WO2007074715A1 - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
- Publication number
- WO2007074715A1 WO2007074715A1 PCT/JP2006/325534 JP2006325534W WO2007074715A1 WO 2007074715 A1 WO2007074715 A1 WO 2007074715A1 JP 2006325534 W JP2006325534 W JP 2006325534W WO 2007074715 A1 WO2007074715 A1 WO 2007074715A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- value
- front wheel
- state quantity
- rear wheel
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/101—Side slip angle of tyre
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/20—Sideslip angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
Definitions
- the present invention relates to a control device for a vehicle having a plurality of wheels, such as an automobile (engine automobile), a hybrid vehicle, and a motorcycle.
- a driving system that transmits driving force to a wheel from a propulsive force generation source such as an engine or imparts braking force and a steering wheel of the vehicle are operated.
- a steering system steering system
- a suspension system for elastically supporting the vehicle body on wheels are provided.
- these systems can be used as a steering wheel (a handle) by a driver, an accelerator pedal, a brake pedal, etc. It is equipped with various electric or hydraulic actuators that can be operated passively in response to the operation of the vehicle (manual operation), and the operation of the actuator is active according to the vehicle running conditions and environmental conditions. The ones that are (actively) controlled are known.
- the feedforward target value of the rear wheel rudder angle is determined according to the front wheel rudder angle, and the normative state quantity (normative lateral rate and normative lateral acceleration) and actual state quantity (yorate detection).
- a technique has been proposed in which a feedback target value of the rear wheel steering angle is determined according to a deviation between the value and the detected value of the lateral acceleration, and the rear wheel steering angle follows the sum of these target values.
- the reference state quantity is set according to the steering angle of the front wheels.
- the transfer function parameters or gains of the feedforward control unit, the feedback control unit, and the reference state quantity determination unit are adjusted according to the estimated value of the friction coefficient of the road surface.
- the present invention has been made in view of such a background, and appropriately controls the road surface reaction force acting on the front wheels of the vehicle and the road surface reaction force acting on the rear wheels, so that the actual vehicle motion can be achieved. It is an object of the present invention to provide a vehicle control device that can appropriately control a desired operation. It is another object of the present invention to provide a vehicle control device capable of appropriately controlling the movement of the vehicle by enhancing robustness against disturbance factors or changes thereof.
- the vehicle control device of the first invention of the present application detects a driving operation amount indicating a driving operation state of the vehicle by a driver of the vehicle having a plurality of wheels.
- a vehicle control device comprising: detection means; an actuator device provided in the vehicle so as to be able to operate a driving force of each wheel of the vehicle; and an actuator device control means for sequentially controlling the operation of the actuator device.
- the first actual state value which is the value of the first state quantity related to the actual rotational movement of the vehicle in the direction of the vehicle or the first state quantity related to the rotational movement of the direction of the vehicle and the translational motion in the lateral direction.
- State quantity grasping means
- a normative value determining means for determining a first normative value that is a normative value of the first state quantity according to at least the detected driving operation amount
- State quantity deviation calculating means for calculating a first state quantity deviation which is a deviation between the detected or estimated first actual state quantity and the determined first reference value;
- Basic required manipulated variable determining means for determining a basic required manipulated variable for operating the actuator device so that the first state variable deviation approaches 0 according to the calculated first state variable deviation;
- control of the driving and braking force of each of the front and rear wheels of the specific set Driving / braking force operation control input is determined so that the relationship between at least the change in the basic required operation amount and the change in the drive / braking force operation control input is proportional.
- Control input determining means
- the actuator device control means controls the operation of the actuator device according to at least the determined driving / braking force operation control input, thereby driving the braking force of each of the front wheels and the rear wheels of the specific group. Is a means for operating through the actuator device,
- the drive'braking force operation control input determining means includes a state quantity relating to a lateral movement of at least one front wheel of the actual vehicle, a state quantity relating to a lateral movement of a predetermined position of the front portion of the vehicle, One of the lateral force acting on the road surface force on at least one front wheel of the vehicle and a parameter having a correlation with either of the state quantity and the lateral force is used as the front wheel side gain adjustment parameter.
- At least the front wheel side gain which is the ratio of the change in the control input for driving and braking force operation of each specific front wheel to the change in the basic required operation amount, changes according to the front wheel side gain adjustment parameter.
- the control input for driving and braking force operation of the specific set of front wheels is determined.
- the state quantity relating to the lateral movement of one rear wheel, the state quantity relating to the lateral movement at a predetermined position of the rear part of the vehicle, the lateral force acting on the road surface force on at least one rear wheel of the vehicle, and these states Any one of the parameters correlated with either the amount or the lateral force is used as a rear wheel side gain adjustment parameter, and the rear wheel of each specific group for the change in the basic required manipulated variable is used.
- the control input for driving the rear wheel'braking force is determined.
- the basic required operation amount is determined so that the first state quantity deviation approaches 0.
- the control input for driving / braking force operation of each of the front wheels and the rear wheels of each specific group is proportional to the relationship between the change in the basic required operation amount and the change in the control input for driving / braking force operation. To be determined.
- the control input for driving / braking force operation is determined so that the amount of change in the value becomes proportional to the amount of change in the basic required operation amount. For example, the value obtained by multiplying the control input for driving 'braking force operation of each wheel (front wheel or rear wheel) of each specific group by the gain in the determined basic required operation amount.
- the driving and braking forces of the front wheels and the rear wheels of each specific group are operated so that the first state quantity deviation approaches zero. That is, the first actual state value, which is the value of the first state quantity related to the rotational movement in the direction of the actual vehicle or the value of the first state quantity related to the rotational movement in the direction of direction and the translational movement in the lateral direction, is the first criterion.
- the driving / braking force of each front wheel and rear wheel of each specific group is manipulated to approach the value.
- the lateral rotation motion or lateral translation motion of the vehicle is also affected by the lateral force that is not only the driving and braking force out of the road surface reaction force that also exerts the road surface force on each wheel.
- the lateral force of each wheel changes in accordance with changes in the slip angle of the wheel, driving and braking force. Therefore, it is desirable that the driving input for controlling the braking force for bringing the first state quantity deviation close to 0 is determined in consideration of the lateral force of each wheel or the side slip of the vehicle or the wheel.
- a state quantity relating to the lateral movement of at least one front wheel of the actual vehicle for example, a side slip angle of the front wheel
- a predetermined position of the front portion of the vehicle are determined.
- State quantities related to lateral movement for example, a side slip angle at a predetermined position in the front of the vehicle
- lateral forces acting on at least one front wheel of the vehicle and these state quantities and lateral forces of Any one of the parameters correlated with at least one of them is used as the front wheel side gain adjustment parameter.
- the front wheel side gain which is the ratio of the change in the control input for driving and braking force operation of each specific front wheel with respect to the change in the basic required operation amount, changes according to the front wheel side gain adjustment parameter.
- a control input for driving and braking force operation of the specific set of front wheels is determined according to at least the front wheel side gain adjustment parameter and the determined basic required operation amount.
- a state quantity relating to lateral movement of at least one rear wheel of the actual vehicle a state quantity relating to lateral movement of a predetermined position of the rear part of the vehicle, and at least one rear wheel of the vehicle
- One of the lateral force acting on the road surface and a parameter correlated with at least one of these state quantities and lateral forces is used as the rear wheel gain adjustment parameter.
- the rear wheel side gain which is the ratio of the change in the control input for driving and braking force operation of each specific rear wheel to the change in the basic required operation amount, changes according to the rear wheel side gain adjustment parameter.
- the control input for driving / braking force operation of the specific rear wheel is determined according to at least the rear wheel gain adjustment parameter and the determined basic required operation amount.
- the first state quantity deviation is considered while taking into account the influence of the change in lateral force accompanying the operation of the braking force for each of the specific set of front wheels and rear wheels. It is possible to determine an appropriate control input for driving 'braking force operation' when bringing the value close to 0. Therefore, according to the first invention, the road surface reaction force (driving 'braking force and lateral force) acting on the front wheel of the vehicle and the road surface reaction force (driving' braking force and lateral force) acting on the rear wheel are appropriately adjusted.
- the actual vehicle motion (a one-way rotational motion, or a one-way rotational motion and a lateral rotational motion and a lateral motion) is performed so that the first actual state quantity of the actual vehicle approaches the first reference value that is the reference value. It is possible to appropriately control the direction translation). That is, according to the first invention, the actual vehicle motion is appropriately controlled to a desired motion by appropriately operating the road surface reaction force acting on the front wheels of the vehicle and the road surface reaction force acting on the rear wheels. It becomes possible to do. Further, the first state quantity deviation is reduced to 0 by making the change in the driving input of the braking force operation of each specific front wheel and rear wheel proportional to the change in the basic required operation amount.
- the "correlation parameter" is a state quantity related to a lateral movement of at least one front wheel of the actual vehicle (a side wheel of the front wheel).
- a state quantity related to lateral movement of a predetermined position of the front portion of the vehicle such as a slip angle of a predetermined position of the front portion of the vehicle
- at least one of the vehicle A lateral force acting on the front wheel of the road from the road surface
- a parameter that determines the value according to one value of these state quantities and lateral forces for example, approximately the state quantity related to the lateral motion of one front wheel
- One or more parameters that define at least one of the proportional value, the state quantity related to the lateral motion of the front wheels, or at least one of the state quantity and lateral force for example, the state Quantity or lateral force It means a plurality of variable amounts the plurality of variable amounts in the case of can be expressed as a function of (such as the steering angle of the vehicles speed and the steering wheel)). The same applies to the “parameter having correlation” related to the rear wheel gain adjustment parameter.
- the "specific set” means a set of front wheels and rear wheels when the vehicle is, for example, a two-wheeled vehicle.
- the vehicle is a four-wheeled vehicle including a pair of left and right front wheels and a rear wheel behind the front wheel, for example, a left front wheel and rear wheel group and a right front wheel and rear wheel group And one of them, or a combination of both. This applies not only to the first invention but also to each invention described later.
- the basic required operation amount includes an external force (moment or translational force) to be additionally applied to the vehicle in order to bring the first state quantity deviation close to zero.
- examples of the first state quantity related to the rotational movement of the vehicle in one direction include yorate and the like
- examples of the first state quantity related to the lateral translational movement include the side slip angle of the wheel or vehicle at a predetermined position
- Examples include slip speed (time change rate of side slip angle), side slip acceleration (time change rate of side slip speed), and lateral acceleration.
- an operation for detecting a driving operation amount indicating a driving operation state of the vehicle by a driver of the vehicle having a plurality of wheels is provided.
- a vehicle control device comprising a heater device control means
- the first actual state value which is the value of the first state quantity related to the actual rotational movement of the vehicle in the direction of the vehicle or the first state quantity related to the rotational movement of the direction of the vehicle and the translational motion in the lateral direction.
- State quantity grasping means
- the first model state quantity which is the value of the first state quantity of the vehicle on the vehicle model preliminarily determined as a model representing the dynamic characteristics of the vehicle, is determined according to at least the detected driving operation quantity.
- State quantity deviation calculating means for calculating a first state quantity deviation which is a deviation between the detected or estimated first actual state quantity and the determined first model state quantity
- Basic required manipulated variable determining means for determining a basic required manipulated variable for operating the actuator device so that the first state variable deviation approaches 0 according to the calculated first state variable deviation;
- control of the driving and braking force of each of the front and rear wheels of the specific set is determined so that at least the relationship between the change in the basic required operation amount and the change in the drive and braking force operation control input is proportional.
- Control input determining means for power operation
- Control input determining means For vehicle model operation for determining a vehicle model operation control input for operating a vehicle on the vehicle model so that the first state quantity deviation approaches 0, according to at least the calculated first state quantity deviation.
- the actuator device control means controls the operation of the actuator device according to at least the determined driving / braking force operation control input, thereby driving the braking force of each of the front wheels and the rear wheels of the specific group. Is a means for operating through the actuator device,
- the model state quantity determining means is a means for determining the first model state quantity according to at least the detected driving operation input and the determined vehicle model operation control input,
- the drive'braking force operation control input determining means is an actual vehicle that is the actual vehicle. Or a state quantity related to the lateral movement of at least one front wheel of the model vehicle, which is a vehicle on the vehicle model, Either the lateral force acting on at least one front wheel of the actual vehicle or model vehicle from the road surface and at least one of these state quantities and lateral forces are correlated to the front wheel side. Used as a gain adjustment parameter
- the front wheel gain which is the ratio of the change in the control input for driving / braking force operation of each specific front wheel with respect to the change in the basic required operation amount, is changed according to the front wheel gain adjustment parameter. Determining at least one of the front wheel side gain adjustment parameter and the determined basic required operation amount, a control input for driving the braking force operation of the specific set of front wheels and at least one of the actual vehicle or the model vehicle.
- the basic force is determined by using any one of the lateral force to be adjusted and the parameter having a correlation with any of the state quantity and the lateral force as a rear wheel gain adjustment parameter.
- At least the rear wheel gain which is the ratio of the change in the control input for driving and braking force operation of each specific rear wheel with respect to the change in the operation amount, changes according to the rear wheel gain adjustment parameter.
- the rear wheel side gain adjustment parameter and the determined basic required operation amount are used to drive the rear wheel of the specific group * the control input for braking force operation is determined.
- the driving / braking power control inputs for the front wheels and the rear wheels of the specific groups are determined in the same manner as in the first invention, and this driving'braking force braking control is determined.
- the driving force and braking force of each front wheel and rear wheel of each specific group are operated.
- the driving / braking force of each of the front wheels and the rear wheels of each specific group is manipulated so that the first state quantity deviation approaches zero.
- a vehicle (model vehicle) on the vehicle model is operated so that the first state quantity deviation approaches 0 by the vehicle model operation control input. Therefore, the value of the first state quantity related to the rotational movement of the actual vehicle (actual vehicle) in the horizontal direction or The first actual state quantity, which is the value of the first state quantity regarding the rotational movement in the horizontal direction and the translational movement in the horizontal direction, approaches the first state quantity of the model so that the front wheels and rear In addition to operating the driving force and braking force of each wheel, the model vehicle is operated so that the model first state quantity approaches the first actual state quantity. For this reason, in the second invention, the movement of the actual vehicle and the movement of the model vehicle do not greatly deviate. For example, the value of the lateral force acting on the wheels of the actual vehicle and the slip angle of the actual vehicle or its wheels are relatively small from those of the model vehicle.
- the driving / braking force operation control input for bringing the first state quantity deviation close to 0 is the lateral force of each wheel or the vehicle. It is also desirable to determine it taking into account the effects of wheel slip.
- a state quantity relating to a lateral movement of at least one front wheel of the actual vehicle or the model vehicle for example, a lateral slip angle of the front wheel of the actual vehicle or the model vehicle
- a state quantity relating to lateral movement of a predetermined position of the front portion of the vehicle or model vehicle for example, a lateral slip angle of a predetermined position of the front portion of the real vehicle or model vehicle
- One of the lateral force acting on the road surface force on the two front wheels and a parameter correlated with at least one of these state quantities and lateral forces is used as a front wheel gain adjustment parameter.
- the front wheel gain which is the ratio of the change in the control input for driving and braking force operation of each specific front wheel with respect to the change in the basic required operation amount, is changed according to the front wheel gain adjustment parameter.
- the control input for driving and braking force operation of the specific set of front wheels is determined according to at least the front wheel gain adjustment parameter and the determined basic required operation amount.
- a state quantity relating to lateral movement of at least one rear wheel of the actual vehicle or model vehicle and a state quantity relating to lateral movement of a predetermined position of the rear part of the actual vehicle or model vehicle, Any one of the lateral force acting on the road surface force on at least one rear wheel of the actual vehicle or the model vehicle and a parameter having a correlation with either of the state quantity and the lateral force on the rear wheel side. Used as a gain adjustment parameter.
- a rear wheel side gain which is a ratio of a change in control input for driving and braking force operation of each specific rear wheel with respect to a change in the basic required operation amount, changes in accordance with the rear wheel side gain adjustment parameter.
- at least the rear wheel side gain adjustment parameter and the determined basic required operation amount determine the rear wheel driving * braking force operation control input for the specific group.
- the movement of the actual vehicle and the movement of the model vehicle do not greatly deviate from each other, so that the first state quantity deviation does not become excessive. For this reason, it is possible to avoid a situation in which the basic required operation amount and the control input for driving and braking force operation of each specific set of front wheels and rear wheels become excessive or limited by the limiter. As a result, it is possible to improve the stability of the operation control of the actual vehicle actuator device according to the first state quantity deviation.
- the road surface reaction force (driving 'braking force and lateral force) acting on the front wheels of the vehicle and the road surface reaction force (driving' braking force and lateral force) acting on the rear wheels are reduced.
- the actual vehicle motion one-way rotational motion, or two-way rotational motion and lateral translation motion
- the actual vehicle motion is appropriately controlled to a desired motion by appropriately operating the road surface reaction force acting on the front wheels of the vehicle and the road surface reaction force acting on the rear wheels. Is possible.
- the "correlation parameter" is a state quantity related to a lateral movement of at least one front wheel of the actual vehicle or model vehicle (front wheel Side slip angle) and the actual vehicle or model vehicle
- a state quantity related to lateral movement of a predetermined position of the front part such as a side slip angle of a predetermined position of the front part of the actual vehicle or model vehicle
- road force on at least one front wheel of the actual vehicle or model vehicle A parameter whose value is determined according to the value of at least one of the acting lateral forces (e.g., a value approximately proportional to the amount of state related to the lateral movement of one front wheel, or the state related to the lateral movement of multiple front wheels
- one or more parameters that define at least one of the state quantity and lateral force e.g., the state quantity or lateral force is a plurality of variable quantities (vehicle The number of variables) that can be expressed as a function of the speed and steering angle of the steering wheel.
- the following example is given when the above-mentioned “parameter having correlation” is used as the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter. That is, as the front wheel side gain adjustment parameter, a combined value of a state quantity related to lateral movement of at least one front wheel of the actual vehicle and a state quantity related to lateral movement of at least one front wheel of the model vehicle, and the actual vehicle A combined value of a state quantity relating to lateral movement at a predetermined position of the front part of the vehicle and a state quantity relating to lateral movement at a predetermined position of the front part of the model vehicle, and a lateral force acting on at least one front wheel of the actual vehicle.
- One of the combined values of the force and the combined lateral force acting on at least one front wheel of the model vehicle can be used.
- a combined value of a state quantity related to lateral movement of at least one rear wheel of the actual vehicle and a state quantity related to lateral movement of at least one rear wheel of the model vehicle can be used.
- at least one rear wheel of the actual vehicle and a combined value of the state amount related to the lateral movement of the predetermined position at the rear of the actual vehicle and the state quantity related to the lateral movement of the predetermined position at the rear of the model vehicle.
- Any composite value of a lateral force acting and a lateral force acting on at least one rear wheel of the model vehicle can be used (third invention).
- the side slip angle of the rear wheel of the actual vehicle and the model A combined value with the side slip angle of the rear wheel of the vehicle can be used as the rear wheel gain adjustment.
- synthetic Examples of the value include a weighted average value and a weighted average value.
- control input determining means for driving'braking force operation includes a state quantity relating to a lateral movement of at least one front wheel of the actual vehicle and a lateral direction of a predetermined position of the front portion of the actual vehicle.
- State quantity relating to lateral movement of at least one rear wheel of the model vehicle State quantity relating to lateral movement of a predetermined position of the rear part of the model vehicle, and road surface force acting on at least one rear wheel of the model vehicle Corresponding to each specific set of rear wheels according to any one of the following lateral force and a parameter correlated with at least one of these state quantities and lateral forces.
- a combined value for front wheel gain operation obtained by combining the first provisional value and the second provisional value for operation of the front wheel side gain corresponding to the front wheel of each specific group; and a rear wheel of the specific group A means for determining a rear wheel side gain operation composite value obtained by combining the first provisional value and the second provisional value for operation of the corresponding rear wheel side gain; At least the front wheel side gain operation combined value and the determined basic request operation so that the front wheel side gain is proportional to the determined front wheel side gain operation combined value corresponding to each specific set of front wheels.
- the control input for driving the braking force operation of the specific group according to the amount and the braking force operation is determined, and the rear wheel gain operation composite value corresponding to the rear wheel of the specific group is set to the rear wheel Means for determining the control input for driving / braking power control of the specific rear wheel in accordance with at least the composite value for operating the rear wheel side gain and the determined basic required operation amount so as to make the side gain proportional (4th invention).
- the front wheel side gain changes in proportion to the front wheel side gain operation composite value.
- the composite value for operating the front wheel side gain is the first provisional value for operating the front wheel side gain determined according to the state quantity related to the lateral movement of the rear wheel of the actual vehicle and the rear wheel of the model vehicle. This is a composite of the second provisional value determined according to the state quantity related to the lateral motion. Further, control inputs for driving and braking force operation of a specific set of front wheels are determined so that the front wheel side gain is proportional to the front wheel side gain operation composite value.
- the front wheel side gain corresponding to each specific set of front wheels is proportional to a front wheel side gain operating component whose value changes in accordance with the front wheel side gain adjustment parameter.
- the rear wheel gain corresponding to the specific rear wheel is proportional to the rear wheel gain operating component whose value changes according to the rear wheel gain adjustment parameter.
- the drive'braking force operation control input determining means includes the front wheel side gain operation component corresponding to the specific group of front wheels and the rear wheel side gain operation component corresponding to the specific group of rear wheels, respectively.
- Side gain The control input for driving / braking force operation of each specific set of front wheels is determined according to the operation component and the determined basic required operation amount, and at least the rear wheel side gain operation component and the determined basic It is preferable to include means for determining a control input for driving the braking force of each specific group according to the required operation amount (fifth invention). Also, in the second to fourth inventions, it is preferable to provide a technique equivalent to
- the sum of the front wheel side gain operation component and the rear wheel side gain operation component corresponding to each specific set of front wheels and rear wheels is substantially constant ( It is possible to maintain the predetermined value or a value close thereto.
- the total road surface reaction force generated at the front wheels and rear wheels is reduced to 0. It is possible to operate appropriately so that it can be approached.
- the basic required manipulated variable determining means includes a means for determining the feedback manipulated variable based on the feedback control law for the first state quantity deviation force, and the feedback manipulated variable. And determining the basic required manipulated variable according to the feedback manipulated variable when the predetermined required dead zone is in the vicinity of the feedback manipulated variable force So.
- the basic required operation amount is determined by setting the value of the feedback operation amount to 0 (seventh invention).
- the feedback manipulated variable when the feedback manipulated variable is a value close to 0, that is, when the first state quantity deviation is sufficiently close to 0, the feedback manipulated variable
- the basic required operation amount is determined with the value of the amount set to 0. For this reason, when the first state quantity deviation is sufficiently close to 0, the control input for driving / braking force operation of the front wheel and the rear wheel of the specific group substantially depends on the first state quantity deviation. Will not change. As a result, it is possible to prevent the driving force and braking force of the front wheels and the rear wheels from frequently changing according to the first state quantity deviation.
- the control input determining means for driving and braking force operation corresponds to the front wheels of each specific group with respect to the front wheel gain adjustment parameter.
- the front wheel side gain changes substantially continuously
- the rear wheel side gain corresponding to each specific set of rear wheels changes substantially continuously with respect to the rear wheel side gain adjustment parameter.
- the driving / braking force of the front wheel and rear wheel of the specific group changes continuously and smoothly with respect to changes in the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter. Can be made.
- the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter are parameters of the same type
- the drive The braking force operation control input determining means is configured to determine whether the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter change while taking the same value.
- the front and rear wheel ratio which is the ratio between the gain and the rear wheel side gain corresponding to the specific rear wheel, is monotonous with respect to changes in the values of the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter.
- the control input for driving / braking force operation of each of the specific group of front wheels and rear wheels is determined so as to change (increase monotonously or decrease monotonously) (invention 11).
- the sixth invention, the eighth invention, and the tenth invention it is preferable that a technique equivalent to that of the eleventh invention is provided (the twelfth invention).
- the fifth invention As the state quantity relating to the lateral movement of the front wheel or the rear wheel, the front wheel or the rear wheel is laid down. Any one of a corner angle, a side slip velocity, and a lateral acceleration can be used, and a state quantity relating to a lateral movement of a predetermined position of the front portion or the rear portion of the vehicle is set as the state amount of the predetermined position.
- a slip angle, a side slip speed, and a lateral acceleration can be used (Thirteenth Invention). The same applies to the second to fourth inventions, the sixth invention, the eighth invention, the tenth invention, and the twelfth invention (fourteenth invention).
- Still another aspect of the vehicle control apparatus of the present invention is a driving operation amount detecting means for detecting a driving operation amount indicating a driving operation state of the vehicle by a driver of the vehicle having a plurality of wheels, and the vehicle
- a vehicle control device comprising: an actuator device provided in the vehicle so that the driving and braking force of each wheel can be operated; and an actuator device control means for sequentially controlling the operation of the actuator device;
- the first actual state value which is the value of the first state quantity related to the actual rotational movement of the vehicle in the direction of the vehicle or the first state quantity related to the rotational movement of the direction of the vehicle and the translational motion in the lateral direction.
- State quantity grasping means
- a normative value determining means for determining a first normative value that is a normative value of the first state quantity according to at least the detected driving operation amount
- State quantity deviation calculating means for calculating a first state quantity deviation which is a deviation between the detected or estimated first actual state quantity and the determined first reference value
- Basic required manipulated variable determining means for determining a basic required manipulated variable for operating the actuator device so that the first state variable deviation approaches 0 according to the calculated first state variable deviation;
- control input for driving the braking force of each of the front and rear wheels of the specific set Drive and braking force operation control input determining means for determining the drive and braking force operation control input
- the actuator device control means controls the operation of the actuator device in accordance with at least the determined driving / braking force operation control input, thereby controlling the driving force of each of the specific set of front wheels and rear wheels. It is a means to operate through the actuator device,
- the control input determining means for driving'braking force operation is based on a state quantity related to a lateral movement of at least one front wheel of the actual vehicle and a lateral movement of a predetermined position of the front portion of the vehicle.
- the front wheel gain adjustment is performed on one of a state quantity related to the vehicle, a lateral force acting on the road surface force on at least one front wheel of the vehicle, and a parameter having a correlation with either of the state quantity or the side force.
- the same front wheel gain adjustment parameter and rear wheel gain adjustment parameter as in the first aspect are used, and at least these gain adjustment parameters and the basic required manipulated variable are used for the drive control. It is input to the control input determining means for power operation. Then, the drive / braking force operation control input determining means determines and outputs the drive / braking force operation control inputs of the specific front wheel and rear wheel according to the input. At this time, when only the front wheel gain adjustment parameter changes monotonously, the change in the control input for driving / braking force operation of the specific front wheel and when only the rear wheel gain adjustment parameter changes monotonously.
- the road surface reaction force (driving 'braking force and lateral force) acting on the front wheel of the vehicle and the road surface reaction force (driving' braking force and lateral force) acting on the rear wheel are appropriately adjusted.
- the actual vehicle motion (the one-way rotational motion or the one-way rotational motion and the lateral rotational motion and the lateral motion) is made so that the first actual state quantity of the actual vehicle approaches the first reference value that is the reference value.
- Direction (translation) can be controlled appropriately. That is, according to the fifteenth aspect of the present invention, the actual vehicle motion is appropriately controlled to a desired motion by appropriately operating the road surface reaction force acting on the front wheels of the vehicle and the road surface reaction force acting on the rear wheels. Is possible.
- the "monotonic change" in the fifteenth invention means a monotone increase or a monotone decrease. The same applies to the sixteenth to eighteenth inventions described later.
- the vehicle control apparatus of the present invention detects a driving operation amount indicating a driving operation state of the vehicle by a driver of the vehicle having a plurality of wheels.
- Control of a vehicle comprising: an amount detection means; an actuator device provided in the vehicle so as to be able to operate a driving force of each wheel of the vehicle; and an actuator device control means for sequentially controlling the operation of the actuator device In the device
- the first actual state value which is the value of the first state quantity related to the actual rotational movement of the vehicle in the direction of the vehicle or the first state quantity related to the rotational movement of the direction of the vehicle and the translational motion in the lateral direction.
- State quantity grasping means
- the first model state quantity which is the value of the first state quantity of the vehicle on the vehicle model preliminarily determined as a model representing the dynamic characteristics of the vehicle, is determined according to at least the detected driving operation quantity.
- State quantity deviation calculating means for calculating a first state quantity deviation which is a deviation between the detected or estimated first actual state quantity and the determined first model state quantity;
- Basic required manipulated variable determining means for determining a basic required manipulated variable for operating the actuator device so that the first state variable deviation approaches 0 according to the calculated first state variable deviation;
- control input for driving the braking force of each of the front and rear wheels of the specific set A driving / braking force operation control input determining means for determining a driving / braking force operation control input
- Control input determining means For vehicle model operation for determining a vehicle model operation control input for operating a vehicle on the vehicle model so that the first state quantity deviation approaches 0, according to at least the calculated first state quantity deviation.
- the actuator device control means controls the operation of the actuator device according to at least the determined driving / braking force operation control input, thereby driving the braking force of each of the front wheels and the rear wheels of the specific group. Is a means for operating through the actuator device,
- the drive'braking force operation control input determining means includes a state quantity relating to a lateral motion of at least one front wheel of an actual vehicle that is the actual vehicle or a model vehicle that is a vehicle on the vehicle model, and The amount of state related to lateral movement at a predetermined position in front of the actual vehicle or model vehicle, the lateral force acting on at least one front wheel of the actual vehicle or model vehicle from the road surface, and the state amount and lateral force
- One of the parameters having a correlation with at least one of the forces is used as a front wheel gain adjustment parameter.
- V a state quantity relating to lateral movement of at least one rear wheel of the real vehicle or model vehicle, a state quantity relating to lateral movement of a predetermined position at the rear of the real vehicle or model vehicle, and
- the lateral force acting on the road surface force on at least one rear wheel of the actual vehicle or the model vehicle and any of the parameters having a correlation with either the state quantity or the lateral force are applied to the rear wheel side.
- a gain adjustment parameter at least the determined basic required operation amount, the front wheel side gain adjustment parameter, and the rear wheel side gain adjustment parameter are input, and each of the front wheel and the rear wheel of the specific group is input.
- Drive 'control is a means to output the control input for power operation, and the relationship between the input and output is the input Driving of the specific set of front wheels when only the front wheel side gain adjustment parameter is monotonously changed.
- the change of the control input for braking force operation and the rear wheel side gain adjustment parameter are monotonously changed.
- the change in the control input for braking force operation is a monotonic change (16th invention).
- the same front wheel side gain adjustment parameter and rear wheel side gain adjustment parameter as in the second invention are used, and at least these gain adjustment parameters and the basic required operation amount are This is input to the driving input / braking force control input determining means. Then, the driving / braking force operation control input determining means determines and outputs the driving force / braking force operation control input of each of the specific front wheel and the rear wheel according to the input.
- the change in the control input for driving and braking force operation of the specific set of front wheels and the rear wheel side gain adjustment parameter is determined so that the change in the driving force for each of the front wheels and rear wheels is monotonously changed.
- the first state quantity deviation is calculated while taking into account the influence of the lateral force change caused by the operation of the driving / braking force of each of the front and rear wheels of the specific group.
- the road surface reaction force (drive'braking force and And lateral force) and the road surface reaction force (driving and braking force and lateral force) acting on the rear wheels.
- the actual vehicle movement In order to bring the first actual state quantity of the actual vehicle closer to the first model state quantity, the actual vehicle movement (one-direction rotational movement, or two-way rotational movement and lateral translation movement)
- the actual vehicle motion is appropriately controlled to a desired motion by appropriately operating the road surface reaction force acting on the front wheels and the road surface reaction force acting on the rear wheels. Is possible.
- the control input for driving and braking force operation of the front and rear wheels of each specific group will not be excessive, the robustness against disturbance factors or changes is improved and the vehicle motion is controlled appropriately. it can.
- the meaning of the “correlation parameter” is the same as in the second aspect of the invention.
- the relationship between the input and the output of the drive / braking force operation control input determining means is the above when only the front wheel gain adjustment parameter of the input is monotonously changed.
- the change in the rear wheel drive and braking force control input for the specific group becomes a monotonous change opposite to the change in the front wheel drive and brake force control input for the specific group, and the rear wheel gain
- the change in the control input for driving the specific group of front wheels' braking force operation ' is monotonous in the opposite direction to the change in the control input for driving the rear wheel of the specific group' braking force operation. It is preferable to be configured so that
- the external force required to bring the deviation of the first state quantity close to zero (the driving force / braking force component and the lateral force component of the road surface reaction force) is obtained.
- the driving force / braking force component and the lateral force component of the road surface reaction force is obtained.
- FIG. 1 is a block diagram showing a schematic configuration of the vehicle.
- the illustrated vehicle is an automobile with four wheels (two wheels on the front and rear of the vehicle). Since the structure of the automobile itself may be known, detailed illustration and description in this specification will be omitted.
- a vehicle 1 as shown in Fig. 1 has a rotational driving force (of vehicle 1) on the drive wheels of four wheels W1, W2, W3, and W4.
- Steering device 3B steerering system
- suspension device 3C suspension device that elastically supports the vehicle body 1B on the four wheels W1 to W4 Yes.
- Wheels Wl, W2, W3, and W4 are the left front, right front, left rear, and right rear wheels of vehicle 1, respectively.
- the driving wheel and the steering wheel are the two front wheels Wl and W2 in the embodiment described in this specification. Therefore, the rear wheels W3 and W4 are driven wheels and non-steering wheels.
- the drive wheels may be two rear wheels W3 and W4, or both front wheels Wl and W2 and rear wheels W3 and W4 (four wheels W1 to W4).
- the steered wheels may also include rear wheels W3 and W4 that are connected by only two front wheels Wl and W2.
- these devices 3A, 3B, 3C have a function of manipulating the movement of the vehicle 1.
- the driving / braking device 3A mainly has a function of operating movement in the traveling direction of the vehicle 1 (position, speed, acceleration, etc. of the traveling direction of the vehicle 1).
- the steering device 3B mainly has a function of operating the rotational movement of the vehicle 1 in one direction (the posture of the vehicle 1, the angular velocity, the angular acceleration, etc.).
- the suspension device 3C is mainly used for movement in the pitch direction and roll direction of the vehicle body 1B of the vehicle 1 (such as the posture of the vehicle body 1B in the pitch direction and roll direction), or movement in the vertical direction of the vehicle body 1B (from the road surface of the vehicle body 1B). It has a function to control the height (position of vehicle body 1B up and down relative to wheels W1 to W4).
- the “posture” of the vehicle 1 or the vehicle body 1B means a spatial orientation.
- the drive'braking device 3A is not shown in detail, but in more detail, the power generation source of the vehicle 1
- a drive system comprising an engine (internal combustion engine) as a (propulsive force generation source of the vehicle 1) and a power transmission system that transmits the output (rotational drive force) of the engine to the drive wheels of the wheels W1 to W4;
- a brake device braking system that applies a braking force to each of the wheels W1 to W4 is provided.
- the power transmission system includes a transmission, a differential gear device, and the like.
- the vehicle 1 described in the embodiment includes an engine as a power generation source.
- a vehicle including a power engine and an electric motor as power generation sources (a so-called parallel type vehicle, hybrid vehicle).
- a vehicle equipped with an electric motor as a power generation source (a so-called electric vehicle or series type hybrid vehicle)! / ⁇ .
- an operation device 5 for operating the vehicle 1 (automobile) by a driver, a steering wheel (a handle), an accelerator pedal, a brake pedal, a shift lever, and the like are provided on the vehicle 1. In the passenger compartment. The illustration of each element of the controller 5 is omitted.
- the steering wheel of the operation device 5 is related to the operation of the steering device 3B. That is, by rotating the steering wheel, the steering device 3B is operated accordingly, and the steering wheels Wl and W2 among the wheels W1 to W4 are steered.
- the braking device 3A relates to the operation of the braking device 3A. That is, the opening degree of the throttle valve provided in the engine changes according to the operation amount (depression amount) of the accelerator pedal, and the intake air amount and the fuel injection amount (and thus the engine output) of the engine are adjusted.
- the brake device operates according to the operation amount (depression amount) of the brake pedal, and the brake pedal The braking torque corresponding to the operation amount is applied to each of the wheels W1 to W4. Also, by operating the shift lever, the operating state of the transmission changes, such as the transmission ratio of the transmission, and adjustment of the drive torque transmitted to the engine power drive wheels is performed.
- each operating device 5 such as a steering wheel by the driver (the driver of the vehicle 1) is detected by an appropriate sensor (not shown).
- this detected value of the driving operation state is referred to as driving operation input.
- This driving operation input includes the steering angle that is the rotation angle of the steering wheel, the accelerator pedal operation amount that is the operation amount of the accelerator pedal, the brake pedal operation amount that is the operation amount of the brake pedal, and the operation position of the shift lever.
- the detection value of the shift lever position is included.
- the sensor that outputs the driving operation input corresponds to the driving operation amount detecting means in the present invention.
- the driving / braking device 3A and the steering device 3B have a factor other than the driving operation input that causes the operation (and hence the movement of the vehicle 1) to be performed only by the driving operation input ( It is assumed that the vehicle 1 can be actively controlled in accordance with the movement state (environmental state, etc.).
- “actively controllable” means that the operation of the devices 3A and 3B is modified to the basic operation corresponding to the driving operation input (basic target operation determined according to the driving operation input). This means that it is possible to control the operation.
- the drive 'braking device 3A is configured to drive the left wheels Wl, W3 with respect to at least one of the set of the front wheels Wl, W2 and the set of the rear wheels W3, W4.
- Driving of braking force and right wheel W2, W4 'Difference or ratio of braking force can be actively controlled via actuators such as hydraulic actuator, electric motor, electromagnetic control valve, etc. provided in this driving' braking device 3A
- the driving / braking device 3A is a driving force applied to each of the wheels W1 to W4 by the operation of the braking device.
- Braking force (specifically, the braking force of the vehicle 1)
- Drive that can be actively controlled via an actuator provided in the brake device (braking force in the moving direction)
- Brake device (drive that acts on each wheel W1 to W4 by the brake device ⁇ braking force applied to the brake pedal)
- This is a basic drive / braking device that can be controlled to increase or decrease from the braking force determined according to the amount of operation.
- the driving and braking device 3A is , W2 and the rear wheels W3, W4, the difference between the driving 'braking force of the left wheels Wl, W3 and the driving force of the right wheels W2, W4' Drive that can actively control the ratio via the actuatorBrake device (drive with left / right power distribution control function for both front wheel Wl and W2 and rear wheel W3 and W4 ⁇ Braking device).
- the driving / braking device 3A is driven by the operation of the driving system of the driving / braking device 3A in addition to the function of actively controlling the driving-braking force of the wheels W1 to W4 by the operation of the braking device. Therefore, it should have a function that can actively control the difference or ratio of the driving force applied to the front wheels Wl and W2, which are driving wheels, via an actuator provided in the driving system.
- the driving / braking device 3A having the left-right power distribution control function as described above actively performs the rotational movement and lateral translation movement of the vehicle 1 by the control function. It will also have a function to operate.
- the driving / braking device 3A drives an actuator for generating braking torque of the braking device, an actuator for driving the engine throttle valve, and a fuel injection valve. It also includes an actuator and an actuator that performs variable speed drive of the transmission.
- the steering device 3B mechanically steers the front wheels Wl and W2, which are steered wheels, for example, via a steering mechanism such as a rack and pion according to the rotation operation of the steering wheel.
- a steering device that can steer the front wheels Wl and W2 with an actuator such as an electric motor as needed (the steering angle of the front wheels Wl and W2 is adjusted according to the rotation angle of the steering wheel).
- This is a steering device that can be controlled to increase or decrease the rudder angular force.
- the steering device 3B is a steering device that performs steering of the front wheels Wl and W2 using only the driving force of the actuator (so-called steering 'by' steering device). Therefore, the steering device 3B is a steering device that can actively control the steering angles of the front wheels Wl and W2 through the actuator (hereinafter referred to as active steering). Called a tearing device).
- an active steering device (hereinafter referred to as such active steering) that steers the steered wheel by means of an auxiliary assistor. If the device is an actuator-assisted steering device), the steering angle of the steered wheel mechanically determined by the rotation operation of the steering wheel and the steering angle (steering angle correction amount) by the operation of the actuator Is the steering angle of the steered wheels.
- the steering device 3B is an active steering device that steers the steered wheels Wl and W2 using only the driving force of the actuator (hereinafter, such an active steering device is referred to as an actuator-driven steering device).
- an active steering device is referred to as an actuator-driven steering device.
- the target value of the steering wheel steering angle is determined according to at least the detected steering angle value, and the actuator is controlled so that the actual steering angle of the steering wheel becomes the target value.
- a known steering device 3B active steering device that can actively control the steering angles of the steered wheels Wl and W2 via the actuator may be used.
- the steering device 3B in the embodiment of the present specification is an active steering device that can actively control the steering angle of the front wheels Wl and W2 via an actuator, but according to the rotation operation of the steering wheel. It may be one that performs only mechanical steering of the front wheels Wl and W2 (hereinafter referred to as a mechanical steering device). Further, in a vehicle having all the wheels Wl to W4 as steering wheels, the steering device can actively control the steering angles of both the front wheels Wl and W2 and the rear wheels W3 and W4 via an actuator. Also good.
- the steering device steers the front wheels W 1 and W 2 according to the rotational operation of the steering wheel only by mechanical means such as a rack 'and' pinion, and only the steering angle of the rear wheels W 3 and W 4 is an actuator. It can be actively controlled via
- the suspension device 3C is a suspension device that operates passively in accordance with the motion of the vehicle 1, for example.
- the suspension device 3C is interposed between the vehicle body 1B and the wheels W1 to W4, for example. It may be a suspension device that can variably control the damping force or hardness of the damper via an actuator such as an electromagnetic control valve or an electric motor.
- the suspension device 3C is a suspension stroke (mechanism such as a spring of the suspension device 3C) stroke (up and down displacement between the vehicle body 1B and the wheels W1 to W4) by a hydraulic cylinder or a pneumatic cylinder.
- a suspension device (so-called electronically controlled suspension) that can directly control the vertical stretching force of the suspension generated between the vehicle body 1B and the wheels W1 to W4.
- the suspension device 3C is a suspension device (hereinafter referred to as an active suspension device) that can control the damping force and hardness of the damper, the stroke or the expansion / contraction force of the damper as described above, the suspension device 3C The operation can be actively controlled.
- an active suspension device a suspension device that can control the damping force and hardness of the damper, the stroke or the expansion / contraction force of the damper as described above
- the actuator device 3 includes a driving / braking device 3A and a steering device 3B. If the suspension device 3C is an active suspension device, the suspension device 3C is also included in the actuator device 3.
- the operating amount of the actuator provided in each of the actuator devices 3 (control input to the actuator; hereinafter referred to as the operating amount of the actuator) is determined in accordance with the driving operation input and the like.
- a control device 10 for controlling the operation of each actuator device 3 according to the quantity is provided.
- the control device 10 is composed of an electronic circuit unit including a microcomputer and the like.
- the sensor force of the operating device 5 is input with the driving operation input, and the various driving sensors (not shown) are used to drive the vehicle 1 and the vehicle speed.
- the detected value of the state quantity of vehicle 1 and information on the traveling environment of vehicle 1 are input.
- the control device 10 sequentially determines the actuator operation amount at a predetermined control processing cycle, and sequentially controls the operation of each of the actuator devices 3.
- the actuator device according to the present invention (actuator that performs operation control by applying the present invention).
- the device is equivalent to the driving / braking device 3A, or the driving / braking device 3A and the steering device 3B.
- the control device 10 corresponds to the actuator device control means in the present invention.
- control device 10 implements various means in the present invention by its control processing function.
- FIG. 2 is a functional block diagram showing an outline of the overall control processing function of the control device 10.
- the actual vehicle 1 is referred to as an actual vehicle 1.
- the portion excluding the actual vehicle 1 in FIG. 2 (more precisely, the portion excluding the actual vehicle 1 and the sensor included in the estimator 12 described later) is the main control processing function of the control device 10. is there.
- a real vehicle 1 in FIG. 2 includes the driving and braking device 3A, the steering device 3B, and the suspension device 3C.
- the control device 10 shown in the figure includes a sensor / estimator 12, a reference manipulated variable determination unit 14, a reference dynamic characteristic model 16, a subtractor 18, a feedback distribution law (FB distribution law) 20, and a feed forward law ( FF rule) 22, an actuator operation target value synthesis unit 24, and an actuator drive control device 26 are provided as main processing function units.
- a sensor / estimator 12 a reference manipulated variable determination unit 14 a reference dynamic characteristic model 16, a subtractor 18, a feedback distribution law (FB distribution law) 20, and a feed forward law ( FF rule) 22, an actuator operation target value synthesis unit 24, and an actuator drive control device 26 are provided as main processing function units.
- solid arrows indicate main inputs to the processing function units, and broken arrows indicate auxiliary inputs to the processing function units.
- the control device 10 executes the processing of these processing function units at a predetermined control processing cycle, and sequentially determines the actuator operation amount for each control processing cycle. Then, the operation of the actuator device 3 of the actual vehicle 1 is sequentially controlled according to the amount of operation of the actuator.
- the control device 10 first detects or estimates the state quantity of the actual vehicle 1 and the state quantity of the traveling environment of the actual vehicle 1 by the sensor estimator 12.
- the detection target or estimation target of the sensor estimator 12 includes, for example, the rate Y act which is the angular velocity of the actual vehicle 1 in the same direction, the traveling speed Vact (ground speed) of the actual vehicle 1,
- Rear wheel side slip angle i8 r_ aC t which is the side slip angle of W3, W4, road surface reaction force (drive • braking force, side force) Force, ground contact load), slip ratio of each wheel W1 to W4 of the actual vehicle 1, and the steering angle S f_act of the front wheels Wl and W2 of the actual vehicle 1.
- the slip angle ⁇ act transverse to the center of gravity of the vehicle is a vector of the running speed Vact of the actual vehicle 1 (on the horizontal plane) when the actual vehicle 1 is viewed from above. Is the angle that the vehicle 1 makes with respect to the longitudinal direction.
- the front wheel side slip angle jS Lact is the angle formed by the traveling speed vector of the front wheels Wl and W2 (on the horizontal plane) with respect to the front and rear direction of the front wheels Wl and W2 when the actual vehicle 1 is viewed upward. .
- the slip angle j8 r_act on the side of the rear wheel is such that the traveling speed vector of the rear wheels W3 and W4 (on the horizontal plane) when the actual vehicle 1 is viewed from above is the front and rear direction of the rear wheels W3 and W4. It is the angle to be made.
- the rudder angle S f_act is an angle formed by the rotation surface of the front wheels Wl and W2 with respect to the front-rear direction of the actual vehicle 1 when the actual vehicle 1 is viewed in an upward force (on the horizontal plane).
- front wheel side slip angle ⁇ f_act may be detected or estimated for each front wheel Wl or W2, the side slip angle of one of the front wheels W1 or W2 is typically
- 8 f_act may be detected or estimated, or the mean value of the sideslip angle of both may be detected or estimated as jS Lact.
- jS Lact the mean value of the sideslip angle of both
- the estimated value of the friction coefficient is referred to as the estimated friction coefficient).
- the estimated friction coefficient estm is, for example, each of the wheels W1 to W4. This is the estimated value of the representative value or average value of the coefficient of friction with the road surface.
- the estimated friction coefficient / z estm is calculated for each wheel W1 to W4, the front wheel Wl, W2 and the rear wheel W3, W4 are set separately or the left front wheel W1 and the rear wheel W3 are set. And the estimated value of the estimated friction coefficient / z estm for each of the pair of the right front wheel W2 and the rear wheel W4.
- the sensor / estimator 12 includes various sensors mounted on the actual vehicle 1 in order to detect or estimate the detection target or the estimation target.
- the sensor include a rate sensor that detects the angular velocity of the actual vehicle 1, an acceleration sensor that detects the longitudinal and lateral accelerations of the actual vehicle 1, a speed sensor that detects the traveling speed (ground speed) of the actual vehicle 1, and the actual vehicle 1
- a rotational speed sensor for detecting the rotational speed of each wheel W1 to W4, a force sensor for detecting a road surface reaction force acting on each wheel Wl to W4 of the actual vehicle 1 and the like.
- the sensor / estimator 12 determines, for the detection target or the estimation target, an estimation target that cannot be directly detected by the sensor mounted on the actual vehicle 1 and has a state quantity correlated with the estimation target. This is estimated by an observer based on the detected value, the value of the actuator operation amount determined by the control device 10 or the target value that defines it.
- the slip angle j8 act across the center of gravity of the vehicle is estimated based on the detection value of the acceleration sensor mounted on the actual vehicle 1.
- the friction coefficient is estimated by a known method based on the detection value of the acceleration sensor.
- the sensor / estimator 12 has a function as a real state quantity grasping means in the present invention.
- the vehicle normal rate and the slip angle across the vehicle center of gravity are used as the type of the first state quantity relating to the motion of the vehicle.
- the correct rate has a meaning as a state quantity related to the rotational movement of the vehicle in one direction
- the slip angle transverse to the center of gravity of the vehicle has a meaning as a state quantity related to the translational movement in the lateral direction of the vehicle.
- the above-mentioned correct rate ⁇ act and the slip angle ⁇ act transverse to the center of gravity of the vehicle are detected or estimated by the sensor estimator 12 as the first actual state quantity in the present invention.
- actual is often given to the name of the state quantity of the actual vehicle 1 detected or estimated by the sensor / estimator 12.
- the actual vehicle 1 speed y act, the actual vehicle 1 travel speed Vact, and the actual vehicle 1 vehicle center-of-gravity point slip angle ⁇ act are the actual rate ⁇ act, actual travel speed Vact, The slip angle ⁇ act on the actual vehicle center of gravity.
- control device 10 determines the reference model operation amount as an input to the reference dynamic characteristic model 16 described later by the reference operation amount determination unit 14.
- the driving operation input detected by the sensor of the controller 5 is input to the reference operation amount determination unit 14, and the reference model operation amount is determined based on at least the driving operation input.
- the reference model operation amount determined by the reference operation amount determination unit 14 is the steering angle of the front wheel of the vehicle on the reference dynamic characteristic model 16 (to be described later) (hereinafter referred to as model front wheel steering angle). It is said).
- the steering angle ⁇ h (current value) of the driving operation inputs is input as a main input amount to the reference operation amount determination unit 14 and detected by the sensor / estimator 12.
- the estimated actual travel speed Vact (current value) and estimated friction coefficient / z estm (current value) and the vehicle state quantity (previous value) on the normative dynamic characteristic model 16 are the normative manipulated variable determination unit 14 Is input.
- the reference operation amount determination unit 14 determines the model front wheel steering angle based on these inputs.
- the model front wheel rudder angle may be basically determined according to the steering angle ⁇ h.
- a necessary restriction is imposed on the model front wheel steering angle input to the reference dynamic characteristic model 16.
- Vact, ⁇ est m, and the like are input to the reference manipulated variable determiner 14 in addition to the steering angle ⁇ h.
- the type of reference model manipulated variable generally depends on the form of the reference dynamic characteristic model 16 and the type of state variable to be determined by the reference dynamic characteristic model 16.
- the normative operation amount determination unit 14 may be included in the normative dynamic characteristic model 16.
- the reference operation amount determination unit 14 may be omitted.
- the control device 10 determines and outputs a reference state quantity that is a state quantity of a movement (hereinafter referred to as a reference movement) as a reference of the actual vehicle 1 by using the reference dynamic characteristic model 16.
- the normative dynamic model 16 is a pre-determined model that expresses the dynamic characteristics of a vehicle.Based on the required inputs including the normative model manipulated variable, the normative motion state quantity (normative state) The amount is determined sequentially.
- the normative movement basically means an ideal movement of the actual vehicle 1 that is considered preferable for the driver or close to it.
- the reference dynamic characteristic model 16 is used for the operation of the reference dynamic characteristic model 16 determined by the reference model operation amount determined by the reference operation amount determination unit 14 and the FB distribution rule 20 described later.
- Control inputs feedback control inputs
- Mvir, Fvir, etc. are input, and based on these inputs, the normative motion (and thus the time series of normative state quantities) is determined.
- the reference state quantity determined and output by the reference dynamic characteristic model 16 is the reference state quantity related to the rotational movement of the vehicle in the horizontal direction and the translational movement of the vehicle in the lateral direction. It is a pair with the normative state quantity.
- the normative state quantity related to the rotational movement of the vehicle in one direction is, for example, the normative value ⁇ d (hereinafter, sometimes referred to as the normative chord ⁇ d).
- the normative value j8 d of the vehicle center-of-gravity point side slip angle hereinafter, referred to as the norm vehicle center-of-gravity point side slip angle ⁇ d).
- the model front wheel steering angle (current value) as the reference model manipulated variable and the feedback control input M vir, Fvir (Previous value) is entered.
- the traveling speed of the vehicle on the reference dynamic characteristic model 16 is made to coincide with the actual traveling speed Vact.
- the actual running speed Vact (current value) detected or estimated by the sensor / estimator 12 is also input to the reference dynamic characteristic model 16.
- the reference dynamic characteristic model 16 determines the vehicle yorate and the vehicle's center-of-gravity slip angle on the reference dynamic characteristic model 16 and uses them to determine the reference state quantity ⁇ d,
- the feedback control inputs Mvir and Fvir input to the reference dynamic characteristic model 16 are changes in the driving environment (road surface condition, etc.) of the actual vehicle 1 (the change is considered in the reference dynamic characteristic model 16) In addition, it is possible to prevent the movement of the actual vehicle 1 from the reference movement due to the model error of the reference dynamic characteristic model 16 or the detection error or estimation error of the sensor's estimator 12.
- This is a feedback control input that is input to the reference dynamic characteristic model 16 in order to make the reference movement closer to the movement of the actual vehicle 1.
- the feedback control inputs Mvir and Fvir are virtual external forces that are virtually applied to the vehicle on the reference dynamic characteristic model 16.
- Mvir is a virtual moment acting around the center of gravity of the vehicle 1 on the reference dynamic characteristic model 16 and Fvir is a lateral moment acting on the center of gravity. It is a virtual translation force.
- the reference state quantities ⁇ d and ⁇ d correspond to the first reference value or the first model state quantity in the present invention
- the reference dynamic characteristic model 16 corresponds to the vehicle model in the present invention.
- the normative operation amount determining unit 14 and the normative dynamic characteristic model 16 constitute a normative value determining unit or a model state amount determining unit in the present invention.
- control device 10 detects the actual state quantity detected or estimated by the sensor / estimator 12 (the same kind of real state quantity as the normative state quantity) and the normative state quantity determined by the normative dynamic characteristic model 16.
- the subtractor 18 calculates the state quantity deviation, which is the difference between the two.
- the processing of the subtractor 18 constitutes the state quantity deviation calculating means in the present invention.
- the state quantity deviations ⁇ err and ⁇ err obtained by the subtractor 18 correspond to the first state quantity deviation in the present invention.
- control device 10 inputs the state quantity deviations ⁇ err and ⁇ err obtained as described above to the FB distribution law 20 and uses the FB distribution law 20 to operate the reference dynamic characteristic model 16.
- the virtual external forces Mvir and Fvir, which are feedback control inputs, and the actuator operation feedback target value (actuator operation FB target value) which is the feedback control input of the operation of the actuator device 3 of the actual vehicle 1 are determined.
- the actuator operation FB target value has a feedback control input related to the operation of the braking device of the driving / braking device 3A (more specifically, it acts on each of the wheels W1 to W4 by the operation of the braking device). Drive (feedback control input to manipulate braking force).
- the actuator operation FB target value includes the feedback control input related to the operation of the steering device 3B in addition to the feedback control input related to the operation of the driving / braking device 3A (more specifically, the front wheel Wl, Feedback control input to operate the lateral force of W2).
- the actuator operation FB target value is a feedback control input for operating (correcting) the road surface reaction force, which is an external force acting on the actual vehicle 1.
- the FB distribution rule 20 basically determines the virtual external forces Mvir and Fvir and the actuator operation FB target value so that the input state quantity deviations ⁇ err and ⁇ err are close to zero. However, the FB distribution rule 20 is to determine the virtual external forces Mvir and Fvir by simply bringing the state quantity deviations ⁇ err and ⁇ err close to 0. The virtual external forces Mvir and Fvir are determined so as to prevent the limit target amount from deviating from the predetermined allowable range.
- the FB distribution law 20 generates a moment in the required direction to bring the state quantity deviations ⁇ err and ⁇ err closer to 0 (more generally, the state
- the required external force (road reaction force) to bring the quantity deviations ⁇ err and ⁇ err closer to 0 is applied to the actual vehicle 1), or feedback control input related to the operation of the brake device of the drive / brake device 3A, or
- the feedback control input and the feedback control input related to the operation of the steering device 3B are determined as the actuator operation FB target value.
- the FB distribution law 20 includes a norm that is the output of the normative dynamic characteristic model 16 that is composed only of the state quantity deviations ⁇ err and ⁇ err. At least one of the state quantity ⁇ d,
- the virtual external forces Mvir and Fvir correspond to the vehicle model operation control input in the present invention
- the feedback control input related to the operation of the brake device in the actuator operation FB target value is the drive in the present invention.
- ⁇ Corresponds to control input for braking force operation.
- the FB distribution rule 20 has functions as basic required operation amount determination means, drive / braking force operation control input determination means, and model operation control input determination means in the present invention.
- the control device 10 in parallel with the control processing of the reference manipulated variable determination unit 14, the reference dynamic characteristic model 16, the subtractor 18 and the FB distribution rule 20 described above (or by time division processing), the control device 10 The operation input is input to the FF rule 22, and the FF rule 22 indicates that the actuator operation FF is the feedforward target value (basic target value) of the operation of the actuator device 3. Determine the standard value.
- the actuator operation FF target value includes the feed forward target value relating to the driving / braking force of each wheel W1 to W4 of the actual vehicle 1 by the operation of the braking device of the driving / braking device 3A, and the driving force.
- ⁇ Drive of actual vehicle 1 drive wheel Wl, W 2 by operation of drive system of brake device 3A ⁇ Feed forward target value and drive for braking force ⁇ Feed forward for reduction gear ratio of gearbox of brake device 3A
- the target value and the feedforward target value related to the steering angle of the steered wheels Wl and W2 of the actual vehicle 1 by the steering device 3B are included.
- the FF shell IJ22 is supplied with the driving operation input in order to determine the FF target value of these actuator operations, and the actual state quantity (actual traveling speed) detected or estimated by the sensor estimator 12. Vact) is entered.
- the FF rule 22 determines the actuator operation FF target value based on these inputs.
- the actuator operation FF target value is an operation target value of the actuator device 3 determined without depending on the state quantity deviations ⁇ err and ⁇ err (first state quantity deviation).
- the actuator operation FF target value generally includes a feedforward target value related to the operation of the suspension device 3C.
- the controller 10 uses the actuator operation FF target value (current value) determined by FF rule 22 and the actuator operation FB target value (current value) determined by the FB distribution rule 20 as the actuator operation target. Input to value synthesis unit 24. Then, the control device 10 combines the actuator operation FF target value and the actuator operation FB target value by the actuator operation target value composition unit 24, and the actuator operation target value that defines the operation of the actuator device 3. Determine the target value.
- the actuator operation target value includes the target value of the driving / braking force of each wheel W1 to W4 of the actual vehicle 1 (total driving by driving / braking device 3A driving system and braking device operation). 'Target value of braking force), target value of slip ratio for each wheel W1 to W4 of actual vehicle 1, target value of steering angle of steering wheel Wl, W2 of actual vehicle 1 by steering device 3B, drive' braking device 3A The target value of the driving 'braking force of each driving wheel Wl, W2 of the actual vehicle 1 and the target value of the reduction ratio of the transmission of the driving device 3A is included.
- the actuator operation target value synthesis unit 24 is detected or estimated by the sensor's estimator 12 using only the above-described actuator operation FF target value and the actuator operation FB target value. Actual state quantities (front wheel W1, W2 actual side slip angle
- the actuator operation target value is not limited to the target value of the type described above.
- the target of the actuator operation amount of each of the actuator devices 3 corresponding to the target value is used.
- the value may be determined.
- the actuator operation target value may basically be any value that can define the operation of the actuator device.
- the target value of the brake pressure may be determined as the actuator operation target value related to the operation of the brake device, or the target value of the actuator operation amount of the brake device corresponding thereto may be determined.
- control device 10 inputs the actuator operation target value determined by the actuator operation target value synthesizing unit 24 to the actuator drive control device 26, and each of the actuators of the actual vehicle 1 is transmitted by the actuator drive control device 26. Determine the amount of actuator operation for device 3. Then, the actuator of each of the actuator devices 3 of the actual vehicle 1 is controlled by the determined actuator operation amount.
- the actuator drive control device 26 determines the actuator operation amount so as to satisfy the input actuator operation target value or according to the actuator operation target value. For this determination, the actual state quantity of the actual vehicle 1 detected or estimated by the sensor / estimator 12 is input to the actuator drive control device 26 in addition to the actuator operation target value.
- a so-called anti-lock brake system is incorporated in the control function related to the brake device of the drive / brake device 3A.
- control processing function units of the control device 10 may be changed as appropriate.
- the sensor / estimator 12 process is executed at the end of each control processing cycle.
- the detected value or the estimated value may be used in the next control processing cycle.
- FIG. 3 is a diagram showing a vehicle structure on the reference dynamic characteristic model 16 in the present embodiment.
- This reference dynamic characteristic model 16 expresses the dynamic characteristics of a vehicle by the dynamic characteristics (dynamic characteristics) on the horizontal plane of a vehicle having one front wheel Wf and one rear wheel Wr. Two-wheel model).
- a vehicle on the reference dynamic characteristic model 16 (a vehicle corresponding to the actual vehicle 1 on the reference dynamic characteristic model 16) is referred to as a model vehicle.
- the front wheel Wf of the model vehicle corresponds to a wheel obtained by integrating the two front wheels Wl and W2 of the actual vehicle 1 and is a steering wheel of the model vehicle.
- the rear wheel Wr corresponds to a wheel obtained by integrating the rear wheels W3 and W4 of the actual vehicle 1 and is a non-steered wheel in this embodiment.
- the angle j8 d (that is, the slip angle ⁇ d transverse to the vehicle center of gravity of the model vehicle) formed by the velocity vector Vd on the horizontal plane of the center of gravity Gd of the model vehicle with respect to the longitudinal direction of the model vehicle, A standard vehicle model's angular velocity ⁇ d around the vertical axis (that is, model vehicle's yo rate ⁇ d) and force S It is a state quantity.
- the angle ⁇ f_d formed by the intersection of the rotational plane of the front wheel Wf of the model vehicle and the horizontal plane with respect to the front-rear direction of the model vehicle is the reference model operation amount input to the reference dynamic characteristic model 16 as the model front wheel steering angle. is there.
- the translational force Fvir in the lateral direction (left and right direction of the model vehicle) that additionally acts on the center of gravity Gd of the model vehicle, and the direction of ( The moment Mvir (around the vertical axis) is a feedback control input that is input to the reference dynamic characteristic model 16 as the virtual external force.
- Vf_d is the traveling speed vector of the front wheel Wf of the model vehicle on the horizontal plane
- Vr_d is the traveling speed vector of the rear wheel Wr of the model vehicle on the horizontal plane
- 13 f_d is the side of the front wheel Wf.
- Slip angle (traveling speed vector Vf_d of front wheel Wf is the front-rear direction of front wheel Wf ( The angle formed with respect to the direction of the line of intersection with the horizontal plane.
- 8f_d) ⁇ _ d is the rear wheel Wr side slip angle (rear wheel Wr travel speed vector Vr_d is the front-rear direction of the rear wheel Wr (the rotation surface of the rear wheel Wr and (The direction of the line of intersection with the horizontal plane)), the rear wheel side slip angle 13 r_d and!), ⁇ ID is the model vehicle's front wheel Wf travel speed vector Vf_d This is an angle made with respect to the front-rear direction (hereinafter referred to as a slip angle transverse to the vehicle front wheel position).
- the counterclockwise is viewed from the top of the vehicle.
- the direction around is the positive direction.
- the translational force Fvir of the virtual external forces Mvir and Fvir assumes the left direction of the vehicle as the positive direction.
- the driving force and braking force of the wheels are positive in the direction of the force (road surface reaction force) that accelerates the vehicle forward in the direction of the intersection of the wheel rotation surface and the road surface or the horizontal plane.
- the driving / braking force in the direction that becomes the driving force with respect to the traveling direction of the vehicle is a positive value
- the driving / braking force in the direction that becomes the braking force with respect to the traveling direction of the vehicle is the negative value
- the dynamic characteristics (dynamic characteristics in the continuous system) of this model vehicle are specifically expressed by the following equation 01.
- the expression excluding the third term (the term including Fvir and Mvir) on the right-hand side of Equation 01 is, for example, a well-known document entitled “Motion and Control of Automobile” (Author: Masato Abe, Publisher: Sankai Co., Ltd.) Do, July 23, 2004, 2nd edition, 2nd edition issued, hereinafter referred to as Non-Patent Document 1) is equivalent to the well-known formulas (3.12) and (3.13).
- m is the total mass of the model vehicle
- Kf is the front wheel of the model vehicle Wl3 ⁇ 4 Cornering power per wheel when considered as a connected body of two left and right front wheels
- Kr is the rear wheel of the model vehicle Cornering power per wheel when Wr is considered as a connected body of two left and right rear wheels
- Lf is the distance in the front-rear direction between the center of the front wheel Wf of the model vehicle and the center of gravity Gd (the distance in the front-rear direction between the rotation axis of the front wheel Wf and the center of gravity Gd when the rudder angle of the front wheel Wf is 0.
- Lr is the distance in the front-rear direction between the center of the rear wheel Wr of the model vehicle and the center of gravity Gd (the distance in the front-rear direction between the rotation axis of the rear wheel Wr and the center of gravity Gd. See Fig. 3), I is the model This is the inertia (moment of inertia) around the shaft at the center of gravity Gd of the vehicle.
- the values of these parameters are pre-set values. In this case, for example, m, I, Lf, and Lr are set to have the same force or almost the same value as those in the actual vehicle 1.
- Kf and Kr are set in consideration of the tire characteristics (or characteristics required for the tire) of the front wheels Wl and W2 and the rear wheels W3 and W4 of the actual vehicle 1, respectively.
- steering characteristics such as understeer, oversteer, and neutral steer can be set depending on how Kf and Kr values (more generally, al l, al2, a21, and a22) are set.
- the values of m, I, Kf, Kr in the actual vehicle 1 may be identified while the actual vehicle 1 is traveling, and the identified values may be used as the values of m, I, Kf, Kr of the model vehicle. .
- Equation 02c the cornering force of the front wheel Wf of the model vehicle as shown in Fig. 3 (the lateral force of the front wheel Wf) is Ffy_d,
- the relationship between Ffy_d and j8 f_d and the relationship between Fry_d and j8 r_d are expressed by the following equations 03a and 03b.
- the latest value (current value) of the actual traveling speed Vact detected or estimated by the sensor 'estimator 12 is used as the traveling speed Vd of the model vehicle. That is, the traveling speed Vd of the model vehicle is always matched with the actual traveling speed Vact.
- the latest value (previous value) of the virtual external force determined as described later in the FB distribution rule 20 is used.
- ⁇ f_d the latest value (current value) of the model front wheel steering angle determined as described later by the reference operation amount determination unit 14 is used.
- yd current value
- the previous value of J3d, ⁇ (1 is also used.
- the dynamic characteristics of the model vehicle may be expressed by the following equation (4) more generally.
- fl (Yd, ⁇ , 311 (1), and £ 2 ((1, ⁇ d, ⁇ f_d) are functions of ⁇ d, ⁇ d, and ⁇ Id, respectively.
- fl and f2 are functions expressed by linear combination (linear combination) of yd, J3d, and Sf_d.
- the functions fl and f2 are functions expressed by mathematical expressions. It may be a function whose values are determined by the map also with the value forces of yd, J3d, and ⁇ f_d.
- the behavior characteristics of the actual vehicle 1 in this embodiment are the open characteristics of the actual vehicle 1 when the present invention is not applied (the behavior characteristics of the actual vehicle 1 when the above-mentioned actuator FB operation target value is constantly maintained at 0). ) And the behavioral characteristics of the reference dynamic characteristics model 16 when the virtual external forces Mvir and Fvir are constantly maintained at 0. For this reason, the standard dynamic characteristics model 16 is generally considered to be more preferable to the driver than the open characteristics of the actual vehicle 1. It is desirable to set a model that shows response behavior. Specifically, it is desirable to set the norm dynamic characteristic model 16 to a model with higher linearity than the actual vehicle 1.
- the relationship between the slip angle or slip ratio of a model vehicle wheel and the road surface reaction force (lateral force or driving / braking force) acting on the wheel from the road surface is linear or close to it! It is desirable that the normative dynamic characteristic model 16 is set so as to be related.
- the reference dynamic characteristic model 16 that expresses the dynamic characteristic by the above-described formula 01 is an example of a model that satisfies these requirements.
- the reference dynamic characteristic model 16 may have characteristics such that the road surface reaction force acting on each wheel Wf, Wr of the model vehicle saturates with respect to the change in the slip angle or slip ratio.
- the cornering powers Kf and Kr are not set to constant values, but are set according to the front wheel side slip angle i8 f_d and the rear wheel side slip angle i8 r_d, respectively.
- the absolute value of the front wheel side slip angle j8 f_d increases to some extent, the lateral force Ffy_d of the front wheel Wf generated according to j8 f_d (see Equation 03a) increases ⁇ f_d.
- the value of Kf is set according to ⁇ fd so as to be saturated.
- the lateral force Fry_d of the rear wheel Wr generated according to ⁇ r_d increases ⁇ r_d.
- FIG. 4 is a functional block diagram showing details of the processing function of the reference manipulated variable determiner 14, and FIG. 5 is a graph for explaining the processing of the excessive centrifugal force prevention limiter 14f provided in the reference manipulated variable determiner 14. .
- the reference operation amount determination unit 14 divides the steering angle ⁇ h (current value) of the input driving operation input by the overall steering ratio is.
- the unrestricted front wheel rudder angle S unltd is determined.
- This unrestricted front wheel rudder angle ⁇ Lunltd is the basic requirement for the model front wheel rudder angle ⁇ f_d according to the steering angle ⁇ h It has meaning as a value.
- the overall steering ratio is is the ratio of the steering angle ⁇ h and the steering angle of the front wheel Wf of the model vehicle.
- the steering angle ⁇ h of the actual vehicle 1 and the front wheel Wl It is set according to the relationship with the feed forward value of the steering angle of W2.
- the overall steering ratio is may not be set to a constant value (fixed value), but may be set variably according to the traveling speed Vact of the actual vehicle 1 detected or estimated by the sensor 'estimator 12. In this case, it is desirable to set is so that the overall steering ratio is increases as the running speed Vact of the actual vehicle 1 increases.
- jS ffl is calculated by the process of the reference dynamic characteristic model 16 and the previous value of the calculated ⁇ ID is input to the reference manipulated variable determination unit 14. It may be. In this case, the arithmetic processing of the
- the slip angle of the front wheel at unlimited front wheel is the model generated when the model front wheel rudder angle ⁇ f_d of the model vehicle is instantaneously controlled from the previous value to the front wheel rudder angle at unlimited time ⁇ Lunltd (current value). This means the instantaneous predicted value of the side wheel slip angle ⁇ f_d of the vehicle.
- the reference manipulated variable determiner 14 determines that the front side side slip angle is the front side side slip angle.
- the limited front wheel side slip angle is determined.
- the graph of the front wheel side slip angle limiter 14d shown in the figure is a graph illustrating the relationship between the front wheel side slip angle at unlimited time and the limited front wheel side slip angle.
- the value in the horizontal axis direction is the value of the sliding angle of the front wheel when unlimited, and the value in the vertical axis direction is the value of the sliding angle of the restricted front wheel.
- This front wheel side slip angle limiter 14d suppresses an excessive increase in the size of the front wheel side slip angle ⁇ f_d of the model vehicle (as a result, the front wheel Wl, This is a limiter for preventing the lateral force of W2 from becoming excessive.
- the front wheel side slip angle limiter 14d receives the estimated friction coefficient ⁇ estm (current value) input from the sensor's estimator 12 and the actual travel speed Vact (current time) ) And the allowable range of the front wheel side slip angle ⁇ f_d (more specifically, the upper limit value ⁇ f max (> 0) and the lower limit value
- the allowable range is set so as to be close to At this time, the allowable range [j8 f_min, j8 f_max] is, for example, a relationship in which the relationship between the side slip angle of the front wheels Wl and W2 of the actual vehicle 1 and the lateral force or cornering force is almost linear (proportional relationship) It is set within the range of the value of the side slip angle that is maintained at.
- the allowable range [ ⁇ f_min, ⁇ f_max] may be set according to one of ⁇ estm and Vact, or either estm or Vact.
- a fixed allowable range may be set in advance.
- the front wheel side slip angle limiter 14d indicates that the input front wheel side slip angle at unlimited time is a value within the allowable range [j8 f_min, ⁇ f max] set as described above.
- the limit front wheel side slip angle value is output as the limited front wheel side slip angle.
- the front wheel side slip angle limiter 14d is a lower limit of the permissible range [ ⁇ f_min, ⁇ f_max] if the input value of the unrestricted front wheel side slip angle deviates from the allowable range.
- the value ⁇ f_min or the upper limit value ⁇ f_max is output as the limited front wheel side slip angle.
- the limited front wheel side slip angle matches the unlimited front wheel side slip angle within the allowable range [ ⁇ f min, ⁇ f max], or the unrestricted front wheel side slip angle. It is determined to be the closest value to.
- the vehicle front wheel position side slip angle ⁇ ID force obtained by the ⁇ 10 calculation unit 14b is subtracted by the subtractor 14e by the subtractor 14e by subtracting the limited front wheel side slip angle obtained as described above.
- 1 Limited Front wheel rudder angle S fjtdl is required.
- the first restricted front wheel rudder angle ⁇ ltdl determined in this way is the unrestricted front wheel rudder so that the front wheel side slip angle 13 f_d of the model vehicle does not deviate from the allowable range [13 f min, ⁇ f max]. It has the meaning of the model front wheel rudder angle S f_d by limiting the angle S unltd.
- the reference manipulated variable determiner 14 determines the second restricted front wheel steering angle S f_ltd2 by passing the first restricted front wheel steering angle ⁇ fjtdl through the centrifugal force increase prevention limiter 14f.
- This ⁇ f_ltd2 force is used as the value of the model front wheel steering angle ⁇ f_d that is input to the reference dynamic characteristic model 16.
- the graph of the centrifugal force excessive limiter 14f shown in the figure is a graph illustrating the relationship between the first restricted front wheel steering angle S fjtdl and the second restricted front wheel steering angle S f_ltd2, and the graph
- the horizontal axis value for ⁇ is the value of ⁇ fjtdl
- the vertical axis value is the value of ⁇ f_ltd2.
- This excessive centrifugal force limiter 14f prevents the centrifugal force generated in the model vehicle from being excessive (as a result, the centrifugal force required for the actual vehicle 1 is not excessive) This is a limiter.
- the excessive centrifugal force prevention limiter 14f is set according to the estimated friction coefficient / estm (current value) and the actual traveling speed Vact (current value) input to the reference manipulated variable determination unit 14.
- the allowable range of the model front wheel steering angle ⁇ f_d (specifically, the upper limit value ⁇ f max OO of the allowable range and the lower limit value ⁇ f_min «0)) is set.
- This allowable range [ ⁇ f_min, ⁇ f max] is that the model vehicle makes a steady circular turn without exceeding the friction limit with the road surface, assuming that the virtual external forces Mvir, Fvir are constantly maintained at 0. This is the allowable range of the model front wheel steering angle ⁇ f_d.
- Equation 05 Cl ⁇ ⁇ estm'm'g Equation 05
- G is the heavy acceleration
- C1 is a positive coefficient of 1 or less.
- the left side of Equation 05 indicates the centrifugal force that occurs in the model vehicle when the model vehicle is turned in a steady circle while holding the model vehicle's ⁇ -rate ⁇ d and travel speed Vd at ⁇ max and Vact, respectively. Means the force (more specifically, the expected convergence value of the centrifugal force).
- the value of the calculation result on the right side of Equation 05 is the road surface reaction force determined according to / z estm (specifically, the total frictional force that can act on the model vehicle via the wheel surface Wf and Wr ( This is the value obtained by multiplying the limit value of the magnitude of the translational force horizontal component of the road surface reaction force by the coefficient C1 ( ⁇ limit value), so the maximum yaw rate during steady circle turning ⁇ max is applied to the model vehicle.
- the value of the coefficient C1 in Expression 05 may be variably set according to at least one of ⁇ estm and Vact. In this case, it is preferable to decrease the value of C1 as estm is smaller or Vact is higher.
- the value of the model front wheel steering angle ⁇ f_d corresponding to ⁇ max at the time of steady circle turning of the model vehicle is obtained as the limit steering angle S f_max_c (> 0) at steady circle turning.
- the relationship of the following equation 06 is established between the correct rate y d of the model vehicle and the model front wheel rudder angle S f_d at the time of steady circle turning.
- Equation 06 can be approximately rewritten as the following Equation 07.
- Equation 06 the values of yd and Vd in Equation 06 or 07 are set as ⁇ max and Vact, respectively, and by solving for ⁇ f_d, the steady circle turning time limit corresponding to ⁇ max Find the rudder angle ⁇ f_max_c.
- the allowable range [ ⁇ f_min, ⁇ f_max] of the model front wheel rudder angle ⁇ f_d to prevent the centrifugal force generated in the model vehicle from becoming excessive is basically the allowable range [ ⁇ f_max_c, ⁇ f_ma x_c].
- the front wheel steering angle ⁇ f_d is subject to unnecessary restrictions in the countersteer state of the actual vehicle 1 (the state in which the front wheels Wl and W2 are steered in the direction opposite to the polarity of the correct rate of the actual vehicle 1). There is a case.
- ⁇ f_min ⁇ ⁇ f— max— c— fe (— y ⁇ , — y max) Equation 08b fe ( ⁇ d, ⁇ max) and fe (— ⁇ d, — ⁇ max) in Equation 08a, 08b are ⁇ This is a function of d and ⁇ max, and the function value varies according to the values of yd and y max as shown in the graphs of FIGS. 5 (a) and (b). In this example, the value of the function fe (yd, ⁇ max) is less than or equal to a predetermined value ⁇ 1 that is slightly larger than 0 as shown in the graph of FIG.
- the function fe (— yd, -y max) is a function obtained by inverting the polarities of the variables yd, y max of the function fe (yd, y max), so that the function fe (— yd , -y max) varies with ⁇ d as shown in the graph of Fig. 5 (b). That is, when ⁇ d is a predetermined negative value slightly smaller than 0—y 1 or more (including the case where ⁇ d> 0), the positive constant value fex is obtained.
- fe (-yd,-y max) when ⁇ d ⁇ — ⁇ 1, decreases monotonously as ⁇ d decreases, and ⁇ d is a predetermined value greater than or equal to- ⁇ max. It reaches 0 before reaching the value ⁇ 2. Furthermore, the value of fe (—yd, ⁇ y max) is maintained at 0 when ⁇ d ⁇ 2 (including the case of ⁇ d ⁇ ⁇ max).
- ⁇ d the value of ⁇ d required to determine the values of the functions fe (yd, ⁇ max), fe (-yd,-y max) is the normative rate ⁇ determined by the normative dynamic model 16 Use the previous value of d.
- the centrifugal force increase prevention limiter 14f compulsorily changes the input value.
- ⁇ f ltdl> ⁇ f_max ⁇ f_max is output as the second restricted front wheel steering angle ⁇ f_ltd_2
- S fjtdl is S fjnin
- S fjnin is the second restriction.
- ⁇ f_ltd2 coincides with the first restricted front wheel steering angle S fjtdl within the allowable range [ ⁇ f_min, ⁇ f max], or is closest to the first restricted front wheel steering angle S fjtdl. It is decided to become.
- the instantaneous value of the slip angle jS! Ld of the front wheel of the model vehicle on the reference dynamic characteristic model 16 is not excessive, and the model vehicle is Departure Steering angle of driving operation input while avoiding excessive centrifugal force.
- the second restricted front wheel steering angle ⁇ f_ltd2 is determined for each control processing cycle as the model front wheel steering angle ⁇ f_d to be input to the reference dynamic characteristic model 16.
- the model front wheel rudder angle S f_d input to the reference dynamic characteristic model 16 is limited as described above so that the centrifugal force generated in the model vehicle does not become excessive.
- the model front wheel rudder angle ⁇ f_d is limited so that the slip angle j8 d (or the rear wheel slip angle ⁇ r_d) of the model vehicle does not become excessive. Is equivalent to that.
- the centrifugal force of the vehicle and the slip angle to the side of the center of gravity of the vehicle (or the slip angle to the side of the rear wheel) are delayed with respect to the steering operation.
- the process of limiting the steering angle S f_d is a process of limiting the model front wheel steering angle ⁇ f_d based on the expected convergence of the vehicle's centrifugal force and the slip angle (or the rear wheel's side slip angle). It can be said that.
- the limit processing of the front wheel side slip angle limiter 14d limits the model front wheel rudder angle S f_d so that the instantaneous value of the front wheel side slip angle j8 f_d of the model vehicle does not become excessive. It can be said that this is a process.
- the function fe used to set the allowable range [ ⁇ f min, ⁇ f_m ax] with the centrifugal force increase prevention limiter 14f is shown in FIGS. 5 (a) and 5 (b). Although set as shown, it is not limited to this.
- the function fe (y d, ⁇ max) may be set as shown by a solid line graph in FIG.
- the function fe (-y d, -y max) is shown by a broken line graph in FIG.
- the upper limit ⁇ f_max of the allowable range of the model front wheel rudder angle ⁇ f_d determined by the above formula 08a is ⁇ (When ⁇ d exceeds ⁇ max, The angle ⁇ f—max_c is closer to 0.
- the lower limit value ⁇ f_min of the allowable range of the model front wheel steering angle S f_d determined by the above-mentioned equation 08b is such that ⁇ d is one ⁇ max on the negative side. If it exceeds the limit, it will be closer to 0 than S f_max as ⁇ d decreases (increases in size).
- ⁇ f_min ⁇ ⁇ f— max— c'fe (— y ⁇ , — y max)
- Expression lib fe (yd, ⁇ max), fe (- ⁇ d,- ⁇ max) has the value It is always 1 or more, and changes in accordance with ⁇ (1 in the same form as in FIGS. 5 (a) and 5 (b), and these ⁇ 3 ⁇ 4 ( ⁇ d, ⁇ max), fe (- By multiplying the values of ( ⁇ d, — ⁇ max) by ⁇ f_max_c and ⁇ f_min_c, respectively, the upper limit value ⁇ f_max and the lower limit value ⁇ f_min are set.
- FIG. 8 is a functional block diagram for explaining the processing function.
- the front wheel steering angle correction amount ⁇ ⁇ 13 ⁇ 4 processing unit 14g for correcting the first limited front wheel steering angle ⁇ f Jtdl determined by the front wheel side slip angle limiter 14d Determine according to rate Yd (previous value).
- ⁇ Sf basically increases as ⁇ increases on the positive side, and the value of ⁇ Sf increases monotonously on the positive side, and yd is negative. As the value decreases on the side, the value of ⁇ Sf is determined to monotonously decrease on the negative side.
- the value of ⁇ Sf has an upper limit value (> 0) and a lower limit value ( ⁇ 0).
- the upper limit value and the lower limit value are set such that, for example, the absolute values thereof are the same as the constant value fex shown in FIGS. 5 (a) and 5 (b).
- the front wheel steering angle correction amount ⁇ ⁇ 13 ⁇ 4 determined as described above is input by adding to the first limited front wheel steering angle ⁇ fjtdl calculated by the subtractor 14e (see FIG. 4) by the adder 14h.
- Determine the first restricted front wheel rudder angle with correction when the direction of Sfjtdl and the direction of yd are opposite to each other, the magnitude of the first limited front wheel steering angle with input correction is smaller than the magnitude of Sf Jtdl. However, if the direction of Sfjtdl is the same as the direction of yd, the size of the first restricted front wheel rudder angle with input correction is larger than the size of Sfjtdl. Become.
- the first restricted front wheel rudder angle with input correction is passed through the limiter 14f for preventing excessive centrifugal force, thereby allowing the first restricted front wheel rudder angle with input correction to be within the allowable range of the model front wheel rudder angle S f_d [ Determine the second restricted front wheel steering angle with input correction limited to the value within ⁇ f min, ⁇ f max]. That is, when the first restricted front wheel steering angle with input correction is within the allowable range, the first restricted front wheel steering angle with input correction is directly used as the second restricted front wheel steering angle with input correction. It is determined.
- the value closer to the first restricted front wheel rudder angle with input correction of ⁇ Lmax and ⁇ f_min is input. It is determined as the second restricted front wheel rudder angle with correction.
- the upper limit value ⁇ f_max (> 0) of the allowable range of the model front wheel steering angle ⁇ f_d in the centrifugal force increase limiter 14f is the same as the direction of ⁇ fjtdl and the direction of ⁇ d in anticipation of correction amount of [delta] f ltd 1, wherein is set to a large value (e.g. ⁇ f_max_c + fex) than during steady circular turning steering angle limit value ⁇ f- ma X _ C.
- the lower limit value ⁇ f_min «0) of the allowable range of the model front wheel steering angle ⁇ f_d is set so that the absolute value thereof is larger than ⁇ f_max_c.
- the second restricted front wheel steering angle S f_ltd2 is subtracted from the second restricted front wheel steering angle with input correction determined as described above by the subtractor 14i. decide.
- the processing of the front wheel side slip angle limiter 14d and the excessive centrifugal force prevention limiter 14f is performed.
- the first restricted front wheel steering angle ⁇ fjtdl determined in 14e may be input to the reference dynamic characteristic model 16 as the model front wheel steering angle ⁇ f_d.
- the model front wheel rudder angle ⁇ f_d input to the reference dynamic characteristic model 16 is limited by the reference operation amount determination unit 14 as described above, so that the model vehicle spins or an extreme side slip occurs. Is prevented from occurring.
- FIG. 9 is a functional block diagram showing processing functions of the FB distribution rule 20. As shown in the figure, the FB distribution rule 20 is roughly divided into its processing functions.
- the virtual external force determination unit 20a that performs processing to determine the virtual external forces Mvir and Fvir and the actuator operation
- the actuator operation that performs processing to determine the FB target value FB target And a value determining unit 20b.
- virtual external force determination unit 20a corresponds to the model operation control input determination means in the present invention.
- the virtual external force determining unit 20a will be described with reference to FIG. 9.
- the processing functions of the virtual external force determining unit 20a are roughly divided into a virtual external force temporary value determining unit 201 and a ⁇
- the external force temporary value determination unit 201 determines the virtual external force temporary values Mvirtmp and Fvirtmp.
- Mvirtmp of the provisional values Mvirtmp and Fvirtmp is the moment that should be generated around the center of gravity Gd of the model vehicle of the reference dynamic characteristic model 1 6 in order to bring the state quantity deviations ⁇ err and ⁇ err closer to 0.
- One direction Fvirtmp is the translational force that should be applied to the center of gravity Gd of the model vehicle of the reference dynamic characteristic model 16 in order to bring the state quantity deviations ⁇ err and ⁇ err closer to 0 (the model vehicle (Translational force in the lateral direction).
- the input state quantity deviations ⁇ err and ⁇ err are defined as a vector ( ⁇ err, ⁇ err) T (subscript ⁇ means transposition).
- the virtual external force temporary values Mvirtmp and Fvirtmp (hereinafter referred to as virtual external force temporary values Mvirtmp and Fvirtmp) are determined by multiplying the gain matrix KMr.
- the ⁇ ⁇ limiter 202 which will be described in detail below, indicates that the slip angle ⁇ d transverse to the vehicle center of gravity of the model vehicle or the slip angle ⁇ act transverse to the center of gravity of the actual vehicle 1 satisfies the predetermined allowable range. If you want to generate a strong action to return j8 d or
- the virtual vehicle external force ⁇ d and the vehicle center-of-gravity point side slip angle ⁇ d on the reference dynamic characteristic model 16 are controlled so as to suppress deviation from the predetermined allowable range.
- the process to modify the provisional values Mvirtmp and Fvirtmp is executed from the ⁇ j8 limiter 202 ⁇ .
- the ⁇ ⁇ limiter 202 first executes the processing of the prediction calculation unit 203, and after the predetermined time (after one or more predetermined number of control processing cycles), the model vehicle
- the current rate ⁇ d and the slip angle i8 d across the center of gravity of the vehicle are predicted, and the predicted values are output as the predicted short rate ⁇ da and the slip angle j8 da across the predicted vehicle center of gravity, respectively.
- the prediction calculation unit 203 includes the reference yorate yd (current value) determined by the reference dynamic characteristic model 16 and the slip angle
- the virtual external force temporary values Mvirtmp and Fvirtmp (current values) determined as described above in 201 are input, and the prediction calculation unit 203 holds the model front wheel steering angle ⁇ in the input ⁇ f_ltd2, Assuming that the virtual external force Mvir, Fvir force acting on the model vehicle is held in the input Mvirtmp, Fvirtmp, and the traveling speed Vd of the model vehicle is held in the input Vact, the above-mentioned equation 01 Based on the above, a predicted yaw rate ⁇ da and a predicted vehicle lateral point of gravity j8 da are calculated.
- the ⁇ j8 limiter 202 passes the ⁇ da and da calculated by the prediction calculation unit 203 as described above through the ⁇ dead zone processing unit 204 and the j8 dead zone processing unit 205, respectively. Deviation amounts ⁇ over and ⁇ over from the predetermined allowable ranges are obtained.
- the graph of the ⁇ dead zone processing unit 204 shown in the figure is a graph exemplifying the relationship between ⁇ da and ⁇ over, the value in the horizontal axis direction is the value of ⁇ da, and the value in the vertical axis direction is ⁇ over Is the value of Similarly, the graph of the j8 dead zone processing unit 205 shown in the figure is a graph illustrating the relationship between j8 da and
- the value in the horizontal axis direction for the graph is the value of ⁇ da and the value in the vertical axis direction. The value is the value of ⁇ over.
- the allowable range in the ⁇ dead band processing unit 204 is an allowable range in which the lower limit value and the upper limit value are ⁇ damin ( ⁇ 0) and y damax (> 0) (the allowable range of the rate ⁇ d).
- the allowable range in the j8 dead zone processing unit 205 is an allowable range (slip angle ⁇ d transverse to the vehicle center of gravity point) where the lower limit value and the upper limit value are jS dami ⁇ «0) and ⁇ damax (> 0), respectively. Is acceptable).
- the allowable range [ ⁇ damin, ⁇ damax] relating to the yo rate ⁇ d is, for example, maintaining the running speed V d of the model vehicle at Vact (current value) and the yo rate ⁇ d of the model vehicle. Set so that the centrifugal force generated in the model vehicle does not exceed the limit value of the friction force according to the estimated friction coefficient / z estm (current value) when steady circular turning is performed while maintaining ⁇ damin or ⁇ damax. Is done. That is, to satisfy the following equations 16a and 16b, Value) and ⁇ estm (current value), ⁇ damax, y damin are set c
- ⁇ damax, y damin is the absolute value; 0 different from y max (eg, smaller than ⁇ max, value You can set it to be!)!
- the allowable range [ ⁇ damin, ⁇ damax] relating to the vehicle center-of-gravity side slip angle ⁇ d affects, for example, the vehicle center-of-gravity side slip angle of actual vehicle 1 and the center of gravity of actual vehicle 1 It is set within the range of the slip angle to the side of the vehicle center of gravity so that the relationship between the translational force in the lateral direction and the linear relationship (proportional relationship) is maintained. In this case, it is desirable to set j8 damin and ⁇ damax according to at least one of Vact (current value) and / z estm (current value).
- the deviation amount 13 over from the allowable range [j8 damin, ⁇ damax] of the predicted slip angle 13 da of the vehicle center of gravity is obtained.
- the ⁇ j8 limiter 202 sets the temporary manipulated variables Mvir_over and Fvir_over, which are the correct amounts of the virtual external force temporary values Mvirtmp and Fvirtmp, so that these deviation amounts ⁇ over and j8 over approach 0. Calculated by the processing unit 206.
- Mvir.over and Fvir_over are determined by multiplying a vector ( ⁇ over, ⁇ over) ⁇ consisting of y over and j8 over by a predetermined gain matrix Kfov
- the ⁇ j8 limiter 202 determines the current values of the virtual external forces Mvir and Fvir by subtracting the temporary manipulated variables Mvir_over and Fvir_over from the virtual external force temporary values Mvirtmp and Fvirtmp by the subtractor 207, respectively.
- the virtual external forces Mvir and Fvir are determined by the following equations 18a and 18b.
- Mvir Mvirtmp ⁇ Mvir ⁇ over formula 18 a
- the virtual external forces Mvir and Fvir are determined so as to bring the state quantity deviations ⁇ err and ⁇ err closer to 0 while suppressing the deviation from [ ⁇ damin, ⁇ damax].
- FIG. 10 is a functional block diagram for explaining the processing.
- virtual external force temporary value determination unit 201 determination unit 201, prediction calculation unit 203, The processes of the zone processing unit 204, the j8 dead zone processing unit 205, and the processing unit 206 are the same as those in FIG.
- the temporary operation amounts Fvir_over and Mvir_over obtained by the processing unit 206 are input to the processing units 208 and 209, respectively, and the virtual external force temporary values Mvirtmp and Fvirtmp are corrected by the processing units 208 and 209, respectively. Correction coefficients Kattl ( ⁇ 0) and Katt2 ( ⁇ 0) are determined.
- correction coefficients Kattl and Katt2 are correction coefficients multiplied by virtual external force provisional values Mvirtmp and Fvirtmp, respectively.
- the graph related to the processing unit 208 shown in the figure is a graph illustrating the relationship between Mvir_over and Katt 1.
- the horizontal axis value for the graph is the Mvir_over value
- the vertical axis value is the Kattl value. It is.
- the graph related to the processing unit 209 shown in the figure is a graph illustrating the relationship between Fvir_over and Katt2, the value in the horizontal axis direction is the value of Fvir_over, and the value in the vertical axis direction is Katt2. Is the value of
- the virtual external force Mvir is reduced to a virtual external force temporary value Mvirtmp so as to be reduced (close to 0).
- the external force Mvir is determined.
- the virtual external force Fvir is determined so that the magnitude of the virtual external force Mvir is reduced (closer to 0) to the virtual external force temporary value Mvirtmp.
- Determining the virtual external force Mvir, Fvir in this way is a deviation force from the allowable range of ⁇ da, j8 da and is considered to be caused by the virtual external force Mvir, Fvir, and the allowable range of y da, j8 da Deviations from [y damin, y damax], [ ⁇ damin, j8 damax]
- the model operation amount determination unit 14 limits the model front wheel steering angle ⁇ f_d to be input to the model dynamic characteristic model 16 as described above.
- the prediction calculation unit 203 calculates the predicted short rate ⁇ da and the predicted vehicle center-of-gravity point slip angle ⁇ da obtained by using the equation 01 as described above, respectively. These ⁇ da and ⁇ da are input to the ⁇ dead zone processing unit 204 and the ⁇ dead zone processing unit 205 to obtain the deviation amounts ⁇ over and j8 over. However, instead of ⁇ da, j8 da, the current value of normative rate ⁇ d, norm vehicle center of gravity side slip angle ⁇ d, or actual rate ⁇ ac actual vehicle center of gravity side slip angle j8 act You may use the current value of, or the value that has been filtered for these values as the amount to be restricted.
- the current value of ⁇ d is input to the ⁇ dead zone processing unit 204 instead of ⁇ da, and the transfer function is (1 + T 1 's) Z (l + T2' s) in the form of filtering (Tl, T2 is a time constant, s is a Laplace operator) 3 You may make it input into the dead zone process part 205.
- Tl time constant
- T2 time constant
- s time constant
- FIG. In this case, for example, if the time constants Tl and ⁇ 2 are set so that T1> T2, the filtering process functions as a so-called phase advance compensation element.
- the phase of the frequency component of ⁇ d in a certain high frequency range is advanced, and the gain for the frequency component is increased, so that the value of j8 d determined in each control processing cycle itself is within the allowable range [jS Before deviating from damin, j8 damax], the virtual external force Mvir, Fvir can be limited according to j8 over.
- ⁇ da and ⁇ da as the restriction target amounts may be obtained as follows.
- the prediction calculation unit 203 obtains values obtained by linearly combining the current values of ⁇ d and ⁇ d using appropriate coefficients cij as ⁇ da and ⁇ da.
- Equation 19b the values obtained by linearly combining the current values of ⁇ (1, ⁇ d, Mvirtmp, Fvirtmp, and ⁇ f_ltd2 using appropriate coefficients cij are denoted as ⁇ da and ⁇ da. You may ask for it.
- yda cll- yd + cl2- jSd + clS-djSd / dt
- frequency coefficients may be given to the coefficients cij of these equations (in other words, a filtering process such as a low-pass filter is applied to the value of the variable multiplied by cij). Or, let's multiply the value of the variable multiplied by the coefficient cij with a limit on the rate of change over time of the variable.
- ⁇ da and ⁇ da can be used to properly determine ⁇ da and ⁇ da as predicted values of the slew rate of the actual vehicle 1 or model vehicle after a predetermined time and the slip angle across the vehicle center of gravity.
- the virtual external forces Mvir and Fvir may be determined by the following equation 200.
- the ⁇ dead zone processing unit 204 and 13 dead zone processing unit 205 of the ⁇ ⁇ limiter 202 are each allowed to have an allowable range of ⁇ da and ⁇ da [ ⁇ damin, ⁇ damax], [ ⁇ damin, ⁇ damax] was set to determine the deviations ⁇ over, ⁇ over, but considering the correlation between ⁇ da and j8 da, for the pair ⁇ da, ⁇ da It is also possible to set an allowable range (allowable range) and determine the deviation amount ⁇ over, ⁇ over!
- a region A (parallelogram shaped region) surrounded by straight lines 1 to 4 on the coordinate plane with ⁇ da as the horizontal axis and j8 da as the vertical axis is represented by ⁇ da, ⁇ Set as the permissible area ⁇ for da.
- the straight lines 1 and 3 are straight lines that define the lower and upper limits of ⁇ da, respectively.
- the lower limit value and the upper limit value are set in the same manner as the lower limit value ⁇ damin and the upper limit value ⁇ damax of the allowable ranges [ ⁇ damin, ⁇ damax] in the ⁇ dead zone processing unit 204, for example.
- Lines 2 and 4 are lines that respectively define a lower limit value and an upper limit value of j8 da.
- the lower limit value and the upper limit value are set so as to change linearly according to ⁇ da.
- 8 da for example, the permissible region A as shown by point P2 in FIG.
- the point P3 closest to the point P2 at the boundary of the allowable area A (in the allowable area A on the straight line 5) The point P3) that is closest to P2 is determined.
- the difference between the value of y da at point P2 and the value of ⁇ da at point P3 is determined as the deviation amount ⁇ over, and the difference between the value of j8 da at point P2 and the value of 13 da at point P3 The difference is determined as the deviation 13 over.
- the point force corresponding to the set of ⁇ da and ⁇ da is, for example, the point P4 shown in FIG.
- the allowable region of the pair of ⁇ da and ⁇ da does not need to be a parallelogram-shaped region.
- a boundary portion shown by a broken line in FIG. It may be region A, which is formed so as not to have).
- both ⁇ da and ⁇ da !, and deviation amounts from [ ⁇ damin, ⁇ damax], [j8 damin,; 8 damax] ⁇ over, ⁇ Over was calculated, and the temporary values Mvir tmp and Fvirtmp were corrected according to J.
- the temporary values Mvirtmp and Fvirtmp may be corrected according to only one of ⁇ over and j8 over.
- either one of y over and j8 over may be fixed to 0 to obtain the provisional value manipulated variables Mvir_over and Fvir_over! ,.
- FIG. 12 is a functional block diagram showing processing of the actuator operation FB target value determination unit 20b.
- the actuator operation FB target value determining unit 20b first receives the state quantity deviation ⁇ err, in accordance with the input state quantity deviation ⁇ err, ⁇ err in the processing unit 220.
- Feedback control to the actuator device 3 of the actual vehicle 1 by changing the feedback moment basic requirement value Mlbdmd, which is the basic requirement value of the momentary moment to be generated around the center of gravity G of the actual vehicle 1 to bring j8 err closer to 0 Determined as the basic required value for input.
- Mlbdmd is determined by the feedback control law from the state quantity deviations ⁇ err and ⁇ err. Specifically, by multiplying a vector ( ⁇ err, ⁇ err) 'consisting of j8 err, y err by a predetermined gain matrix Klbdmd (linearly combining ⁇ err, ⁇ err) as shown in the following equation 23 Mlbdmd is determined.
- Mlbdmd may be determined according to jS err and ⁇ err and the first-order differential value d j8 err / dt of j8 err. For example, determine M i dmd by multiplying a vector consisting of jS err, ⁇ err, and d j8 err / dt by an appropriate gain matrix (linearly combining j8 err, ⁇ err, d err / dt with appropriate coefficients). Even if you do it.
- At least one of the elements Klbdmdl and Kl dmd2 of the gain matrix Klbdmd has a phase compensation element whose transfer function is represented by (1 + Tcl ⁇ s) Z (1 + Tc2 ⁇ s). You may stumble to multiply.
- the value of the time constants Tel and Tc2 is set so that Klbdmdl multiplied by j8 err is multiplied by the above phase compensation element and Tel> Tc2.
- the term that is obtained by multiplying ⁇ err by Klbdmdl is equivalent to a linear combination of ⁇ err and its differential value that is passed through a noise cut filter.
- the actuator operation FB target value determination unit 20b passes the Mlbdmd through the dead band processing unit 221 to determine the dead band excess feedback moment request value Ml dmcLa.
- the graph of the dead zone processing unit 221 in the figure is a graph illustrating the relationship between Mlbdmd and Ml dmcLa. Value.
- the driving of the actuator device 3 and the brake of the braking device 3A are mainly performed. Operate the device. In this case, if the brake device is operated according to Mf bdmd determined as described above, the brake device may be frequently operated. In the present embodiment, in order to prevent this, the brake device is operated according to the dead zone excess feedback moment required value M 1 dmcLa obtained by passing Mlbdmd through the dead zone processing unit 221.
- Ml dmd_a Mibdmd—the upper limit value.
- Ml dmd_a Mibdm d— Set to the lower limit.
- the excess from the dead zone of Mlbdmd is determined as Ml dmcLa.
- the basic required operation amount determination means in the present invention is configured by the processing of the processing unit 220 and the dead zone processing unit 221.
- the dead zone excess feedback motion request value MlbdmcLa corresponds to the basic required operation amount in the present invention.
- the feedback required moment basic requirement value Mf dmd corresponds to the feedback manipulated variable in the present invention.
- Mfcdmd_a as the basic required operation amount in the present embodiment is a brake device when Mlbdmd as the required operation amount for bringing the state quantity deviations ye rr and ⁇ err closer to 0 is close to 0 (when Mlbdmd is in the dead zone)
- the state quantity deviations ⁇ err and ⁇ err function to be close to 0 while suppressing frequent operations.
- the processing of the dead zone processing unit 221 may be omitted, and Mlbdmd may be used as it is as MlbdmcLa (basic required operation amount in the present invention).
- MlbdmcLa is generated around the center of gravity of the actual vehicle 1 (and y err and j8 err are set to 0 as a result).
- Drive / brake device Drive of each wheel W1 to W4 by operation of brake device of 3A 'feedback target value of braking force (brake device feedback control input to bring ⁇ err, ⁇ err close to 0) )
- the braking force Fxlbdmd_3 is determined so that the relationship between each change and the change with MlbdmcLa is proportional.
- the ratios of changes in Fxlbdmd_l and Fxl dmd_3 with respect to changes in Mlbdm d_a in this proportional relationship are referred to as front wheel side gain GA1 and rear wheel side gain GA3, respectively.
- Fxl dmd_l and Fxl dmd_3 are determined to be values obtained by multiplying MlbdmcLa by GA1 and GA3 (values proportional to MlbdmcLa), respectively.
- MlbdmcLa is a negative moment (a moment in the clockwise direction when viewed from the top of the actual vehicle 1), basically, the right wheel Wl, W3 of the actual vehicle 1 is driven and braked. The force is increased in the braking direction, so that MlbdmcLa is generated around the center of gravity G of the actual vehicle 1.
- the braking force Fxlbdmd_4 is determined so that the relationship between each change and the change with Ml d md_a is proportional.
- Fxl dmd_2 and Fxl dmd_4 are determined to be values obtained by multiplying MlbdmcLa by GA2 and GA4 (values proportional to MlbdmcLa), respectively.
- the distance between the front wheels Wl and W2 of the actual vehicle 1 (that is, the tread of the front wheels Wl and W2) is df
- the distance between the rear wheels W3 and W4 (that is, the rear wheels W3 and W4 Tread) is dr
- the actual steering angle (actual front wheel steering angle) of front wheels Wl and W2 is ⁇ f_act.
- the rear wheels W3 and W4 are non-steering wheels, and therefore the actual steering angle (actual rear wheel steering angle) of the force rear wheels W3 and W4 not shown is ⁇ r_act.
- Lf is the longitudinal distance between the center of gravity G of the actual vehicle 1 and the axle of the front wheels Wl, W2 and Lr is the longitudinal distance between the center of gravity G of the actual vehicle 1 and the axles of the rear wheels Wl, W2.
- the actuator operation FB target value distribution processing unit 222 determines the first wheel distribution ratio correction value Kl_str and the first wheel distribution ratio correction value according to the actual front wheel steering angle S f-act
- the second wheel distribution ratio correction value K2_str is determined by the processing units 222b_l and 222b_2
- the third wheel distribution ratio correction value K3_str and the fourth wheel distribution ratio correction value K4_str are determined according to the actual rear wheel steering angle ⁇ r_act.
- the driving force and braking force of the third wheel W3 and the fourth wheel W4 that generate this moment vary from Fxfolll dmd_3 and Fxfolll dmd_4 determined by the equations 24c and 24d, respectively.
- Kl_str and K2_str related to the front wheels Wl and W2 are determined in the processing units 222b_l and 222b_2, respectively, as follows. That is, first, the values of LI and L2 shown in Fig. 13 and the values of df and Lf, ⁇ f_act and force, which are preliminarily set, are calculated by the geometric calculation of the following equations 25a and 25b.
- the steering device 3B is a mechanical steering device
- the steering device 3B may be determined from the overall steering ratio of the mechanical steering device and the steering angle ⁇ h of the driving operation input.
- the current value of the unrestricted front wheel steering angle ⁇ Lunltd determined by the processing unit 14a of the reference manipulated variable determination unit 14 may be used.
- Kl_str and K2_str are determined by the following equations 26a and 26b.
- Expression 26a Expression 26b [This is a function that outputs the larger of max (a, b) (a, bi) , Is a positive constant smaller than dfZ2. This prevented KLstr and K2_str from becoming excessive.
- the upper limit value of (df / 2) / Lmin (> l) ⁇ Kl_str, K2_str is set, and below this upper limit value, Kl_str, K2_str is set according to the actual front wheel steering ⁇ f_act.
- the rear wheels W3 and W4 are non-steering wheels, so as described above, K3_str
- K4_str l.
- Kl_str and K2_str are set according to the actual front wheel steering angle ⁇ f_act as described above, according to the actual rear wheel steering angle ⁇ r_act It is desirable to set K3_str and K4_str! /.
- This Kn is a correction factor (smaller than 1, positive value) for correcting Fxfolll dmd_n by multiplying this by the ⁇ -th wheel driving / braking force full required value Fxfolll dmcLn.
- the n-th wheel distribution gain Kn is determined as follows for each processing unit 222c_n.
- the first wheel distribution gain K1 and the third wheel distribution gain K3 relating to the first wheel W1 and the third wheel W3 arranged in front and rear on the left side of the actual vehicle 1 are shown in Fig. 14 (a) and (b), respectively. is determined so as to substantially continuously changes in accordance with jS! Lact, j8 r_ ac t as indicated by the solid line. Also, the second wheel distribution gain K2 and the fourth wheel distribution gain K4 related to the second wheel W2 and the fourth wheel W4 arranged at the front and rear on the right side of the actual vehicle 1 are shown in Figs. 14 (a) and (b). As shown by the broken line graph in FIG.
- K1 is a negative value of positive value of j8 f_act as shown by the solid line graph in Fig. 14 (a).
- the predetermined lower limit force is determined according to the value of ⁇ Lact so as to increase monotonously up to the predetermined upper limit value. Therefore, K1 is determined to be larger when j8 f_act is positive than when it is negative.
- K3 monotonously decreases to a predetermined upper limit force to a predetermined lower limit as j8 r_act increases to a negative value.
- K3 is determined to be larger when j8 r_act is negative than when it is positive.
- K2 indicates that j8 f_act increases to a negative value force positive value as shown by the broken line graph in Fig. 14 (a). Accordingly, it is determined according to the value of ⁇ f_act so as to monotonously decrease from the predetermined upper limit value to the predetermined lower limit value.
- the broken line graph force K1 represents the relationship between ⁇ 2 and ⁇ f_act
- K4 increases monotonously up to a predetermined lower limit force and a predetermined upper limit value as ⁇ r_act increases from a negative value to a positive value. It is determined according to the value of
- second wheel distribution gain K2 corresponding to front wheel W2 And monotonous change with respect to changes in ⁇ f_act and ⁇ r_act, while keeping the sum of the ratio power K2 and ⁇ 4 to the fourth wheel distribution gain K4 corresponding to the rear wheel W4 directly behind the front wheel W2 It will be.
- i8f_act and r_act are used as the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter of the present invention, respectively, and the n-th wheel distribution gain Kn is changed accordingly as described above. I have to. Then, as described later, the front wheel gains GA1 and GA2 are changed according to iSLact as the front wheel gain adjustment parameter, and the rear wheel gains GA3 and GA4 are used as the rear wheel gain adjustment parameter. It is made to change according to j8r_act.
- j8f_act has a meaning as a state quantity relating to the lateral movement of the front wheels Wl and W2
- j8r_a C t has a meaning as a state quantity relating to the lateral movement of the rear wheels W3 and W4.
- Is V one of the front wheels W1 or W2!
- Fxl _2 Fxlulli dmd_2-K2_str-K2 & Formula 27b
- Fxlb_n l, 2, 3, 4
- Fxl _l and Fxl _3 related to the left wheels Wl and W3 become the driving direction 'braking force (positive driving' braking force) 'and Fxl related to the right wheels W2 and W4.
- Fxl_4 is the driving force in the braking direction (negative driving force / braking force).
- the n-th wheel distributed drive 'braking force basic value Fxl ji is proportional to MlbdmcLa.
- This limiter 222d_n outputs Fxl_n as FxlbdmcLn as it is only when the value of Fxl_n input to it is 0 or negative, and when Fxlb_n is positive, The value of FxlbdmcLn that is output regardless of the value is 0. In other words, FxlbdmcLn is determined by limiting Fxl_n with 0 as the upper limit.
- FxlbdmcLl and Fxldmd_3 related to the left wheels Wl and W3 as a specific set are equal to Fxl_l and Fxl_3 determined by the equations 27a and 27c, respectively. Therefore, when Mlbdmd_a> 0, Fxfcdmd_1 and Fxl dmd_3 for the left wheels Wl and W3 are proportional to MlbdmcLa, respectively. As a result, the relationship between the change in MlbdmcLa and each change in Fxl d md_l and Fxl dmd_3 is proportional.
- Fxl dmd_2 and Fxl dmd_4 related to the right wheels W2 and W4 as a specific set are equal to Fxlb_2 and Fxlb_4 determined by the equations 27b and 27d, respectively. Therefore, when MlbdmcLa is 0, Fxfcdmd_ 2. Fxl dmd_4 is proportional to MlbdmcLa. Eventually, the relationship between changes in MlbdmcLa and changes in Fxlbd md_2 and Fxl dmd_4 is proportional.
- Fxl dmd_2 is determined so that the relationship between the change in MlbdmcLa and the change in Fxlbdmd_2 is proportional, and the front wheel gain GA2 in the proportional relationship changes according to j8 f_act as the front wheel gain adjustment parameter.
- the lateral force of the three-wheel W3 (which functions to generate a moment in the same direction as the MlbdmcLa around the center of gravity of the actual vehicle 1) is reduced. For this reason, it may be difficult to generate a sufficient positive moment (moment around the shaft) required by MlbdmcLa around the center of gravity G of the actual vehicle 1. So, in the situation where j8 f_act> 0,
- the wheel distribution gain Kl is determined to be a larger value, and the wheel 3 distribution gain K3 is determined to be a smaller value.
- the force (which functions to generate a moment in the direction opposite to that of MlbdmcLa around the center of gravity of the actual vehicle 1) becomes larger. For this reason, it may be difficult to sufficiently generate the moment in the negative direction required by MlbdmcLa (the moment around the shaft) around the center of gravity G of the actual vehicle 1. Therefore, in a situation where j8 f_act> 0, j8 r_act> 0, the second wheel distribution gain K2 is determined to be a smaller value, and the fourth wheel distribution gain K4 is determined to be a larger value.
- the difference between ⁇ f_act and ⁇ r_act may become large in the transitional motion situation of the actual vehicle 1.
- the sum of the value of K1 and the value of K3, and the sum of the value of K2 and the value of K4 will be significantly different from 1.
- the values of Kl and K3 are corrected while keeping the ratio of those values constant, and the values of Kl and K3 after the correction are corrected. It is preferable that the sum of 1 is almost 1 or closer to 1 than the sum of Kl and K3 before correction.
- the values of K2 and K4 are corrected while maintaining the ratio of those values constant, and the sum of the corrected values of K2 and K4 is It is preferable to make it closer to 1 than the sum of K2 and K4 before correction.
- the sum of K1 and ⁇ 3 and the sum of ⁇ 2 and ⁇ 4 are always maintained at 1, but their sum is not necessarily required to match 1.
- the values of ⁇ 1 to ⁇ 4 may be corrected so that the value is in the range near 1. Or between K1 and ⁇ 3 K1 to K4 may be modified so that the sum and the sum of K2 and K4 are closer to 1.
- Kl and K2 are the front wheel side in the present invention.
- K2 and K4 correspond to the rear wheel side gain operating component in the present invention.
- the actuator operation FB target value distribution processing unit 222 of the present embodiment determines the FB target n-th wheel brake driving / braking force Fxl dmcLn as described above, and further includes The requested moment value Mfbdmd is input to the processing unit 222e, and the processing unit 222e determines the FB target lateral force Fyl dmdj ⁇ for active steering, which is the feedback target value of the lateral force of the front wheels Wl and W2 due to the operation of the steering device 3B.
- the graph of the processing unit 222e in the figure is a graph representing the relationship between Ml dmd and FylbdmcLf, and the value of the horizontal axis related to the graph is the value of Ml dmd, and the value of the vertical axis is FylbdmcLf. Value.
- the processing unit 222e basically determines Fylbdmdj ⁇ so that Fylbdmd. 1 ⁇ increases monotonically as Mlbdmd increases.
- FylbdmcLf is determined from the value of Mlbdmd input to the processing unit 222e using, for example, a map.
- FylbdmcLf may be determined by multiplying Mlbdmd by a predetermined gain. Further, FylbdmcLf may be determined according to Mlb dmd within a range between a predetermined upper limit value (> 0) and a lower limit value ( ⁇ 0).
- the processing of the processing unit 222e may be omitted regardless of whether the steering device 3B is a force mechanical steering device that is an active steering device! /.
- the moment in one direction to be generated around the center of gravity G of the actual vehicle 1 and the FB target lateral force FylbdmcLf for active steering around the center of gravity G of the actual vehicle 1 FxlbdmcLn (n l, 2, 3, 4) and so that the sum of the generated moments in the direction of the motor is approximately equal to the basic value of feedback moment Mlbdmd.
- the active steering FB target lateral force Fyl dmdj ⁇ may be determined according to the difference between Mlbdmd and Mlbdmd_a.
- Ml dmd_a 0, Fyl dmd_f is almost equal to Ml dmd around the center of gravity G of the actual vehicle 1! /, Fyl dmdj ⁇ determined to generate a moment in the first direction It is desirable to do.
- the map for the first wheel is set as shown in FIGS. 15 (a) to (e), for example.
- the map for the third wheel may be set as shown in FIGS. 16 (a) to (e), for example.
- the relationship with Fxl dmd_l is expressed as a value in the horizontal axis direction and a value in the vertical axis direction of the graph.
- Each value is expressed as a value in the horizontal axis direction and a value in the vertical axis direction of the graph.
- ⁇ f_act means a negative value with a relatively large absolute value
- ⁇ f- means a negative value with a relatively small absolute value
- J8 f + means a positive value having a relatively small absolute value
- j8 f ++ means a positive value having a relatively large absolute value
- j8 r_act means a negative value having a relatively large absolute value
- ⁇ r- means a relatively small absolute value! Means a negative value, and “ ⁇ r + j means a relatively small absolute value.
- V meaning a positive value
- “/ 3 r ++ j means a positive value with a relatively large absolute value
- the processing units 222b_3 and 222b_4 related to the third wheel W3 and the fourth theory W4 the input value and the output value thereof are equal, so the third wheel W3 and the fourth theory W4 With respect to ⁇ 223c-3 force to dimmer 222d-3; 3 ⁇ 4i and J to ⁇ 222c-4 force to dimmer 222d-4 using the map as described above, the processing unit The processing from 222b_3 to the limiter 222d_3 and the processing from the processing unit 222b_4 to the limiter 222d_4 are performed using a map.
- the detected value of the sliding speed of the front wheels Wl, W2 of the actual vehicle 1 (the rotational axis direction component of the front wheels Wl, W2 of the traveling speed vectors of the front wheels Wl, W2)
- the estimated value or the detected value or estimated value of the lateral acceleration of the front wheels Wl and W2 (the lateral component of the acceleration vector of the front wheels Wl and W2) may be used as the front wheel gain adjustment parameter.
- the side slip velocity or lateral acceleration of the front wheels Wl and W2 is an example of a state quantity related to the lateral movement of the front wheels W1 and W2, similarly to
- the side slip speed and side calorie speed may be detected or estimated values for each of the front wheels Wl and W2, but these average values or one of the front wheels Wl and W2! / It can be a detected or estimated value! /.
- the detected value or estimated value of the actual side slip angle at a predetermined position of the front portion of the actual vehicle 1 for example, the center position on the axle of the front wheels Wl and W2
- Detected value or estimated value of the traveling speed the lateral component of the traveling velocity vector at the predetermined position
- the detected value or estimated value of the lateral acceleration at the predetermined position the lateral component of the acceleration vector at the predetermined position.
- a constant value may be used as a front wheel side gain adjustment parameter.
- the side slip angle, side slip speed, and lateral acceleration at the predetermined position are examples of state quantities related to the lateral movement at the predetermined position.
- the detected value or estimated value of the lateral force of the front wheels Wl and W2 may be used as a front wheel gain adjustment parameter.
- the lateral force may be a detected value or an estimated value for each of the front wheels Wl and W2, but may be an average value thereof or a detected value or an estimated value for one of the front wheels Wl and W2. .
- 8 f _act, etc.) related to the lateral movement of the front wheel Wl, W2 of the actual vehicle 1 as described above, the state quantity related to the lateral movement of the front portion of the actual vehicle 1 and the front wheel A parameter having a correlation with any of the lateral forces of W1 and W2 may be used as the front wheel side gain adjustment parameter.
- an arbitrary parameter that is substantially proportional to the state amount related to the lateral movement or the detected value or estimated value of the lateral force may be used as the front wheel side gain adjustment parameter.
- one or more meters that define the value of the state quantity or lateral force related to the lateral movement may be used as the front wheel side gain adjustment parameter.
- j8 f_act is basically defined according to the slip angle j8 act across the center of gravity of the actual vehicle, the actual ⁇ act, the actual traveling speed Vact, and the actual front wheel steering angle ⁇ f_act (see above).
- ⁇ f_d, j8 d, ⁇ d, Vd, and ⁇ f_d in the equation 02a relating to the model vehicle are replaced by ⁇ f_a ct, ⁇ act, ⁇ act, Vact, and ⁇ f_act, respectively.
- the relationship between j8 f_act and the first wheel distribution gain K1 and the second wheel distribution gain K2 is expressed as 13 act, ⁇ act, Vact, ⁇ f_act And the relationship between Kl and K2. Then, based on the relation obtained by the transformation, Kl and K2 If you decide to,
- the side slip speed of the rear wheels W3 and W4 of the actual vehicle 1 (the rotational axis direction component of the rear wheels W3 and W4 of the traveling speed vectors of the rear wheels W3 and W4)
- the detected value or estimated value, or the detected value or estimated value of the lateral acceleration of the rear wheels W3 and W4 (the lateral component of the acceleration vector of the rear wheels W3 and W4) may be used as the rear wheel gain adjustment parameter.
- the side slip velocity or lateral acceleration of the rear wheels W3 and W4 is an example of a state quantity related to the lateral movement of the rear wheels W3 and W4, similarly to
- the side slip angle, side slip speed, and lateral acceleration may be detected or estimated values for each of the rear wheels W3 and W4. , W4 ⁇ KOTSU! /, Or a detected or estimated value.
- the detected or estimated value of the slip angle of the predetermined position at the rear of the actual vehicle 1 for example, the center position on the axle of the rear wheels W3, W4
- the detected value or estimated value of the velocity (the lateral component of the traveling velocity vector at the predetermined position), or the detected value or estimated value of the lateral acceleration at the predetermined position (the lateral component of the acceleration vector at the predetermined position) It may be used as a wheel side gain adjustment parameter.
- the side slip angle, side slip speed, and lateral acceleration at the predetermined position are examples of state quantities related to the lateral movement of the predetermined position.
- the detected value or estimated value of the lateral force of the rear wheel 3, W4 of the actual vehicle 1 may be used as a rear wheel side gain adjustment meter.
- the lateral force may be a detected value or an estimated value for each of the rear wheels W3 and W4, but may be an average value of these or a detected value or an estimated value for one of the rear wheels W3 and W4. .
- the state quantity related to the lateral movement of the rear wheels W3, W4 of the actual vehicle 1 as described above ( _act, etc.), the state quantity related to the lateral movement of the rear part of the actual vehicle 1 and the lateral force of the rear wheels W3 and W4 are parameters that correlate with any of the rear wheel side gain adjustment parameters. It may be used as a data. For example, an arbitrary parameter that is approximately proportional to the state quantity related to the lateral movement or the detected value or estimated value of the lateral force may be used as the rear wheel side gain adjustment parameter. In addition, one or more meters that specify the value of the state quantity or lateral force related to the lateral movement may be used as the rear wheel gain adjustment parameter.
- j8 r_act is basically defined according to the slip angle j8 act transverse to the center of gravity of the actual vehicle, the actual ⁇ rate ⁇ act, and the actual traveling speed Vact (see Equation 02b above).
- the state quantity related to the lateral movement of the front wheels Wl and W2 of the actual vehicle 1 the state quantity related to the lateral movement of the front portion of the actual vehicle 1 and the lateral force of the front wheels Wl and W2 of the actual vehicle 1
- the corresponding state quantities and lateral Use force and parameters as front wheel gain adjustment parameters.
- ⁇ f_act instead of ⁇ f_act, ⁇ f_d of the model vehicle may be used as a front wheel side gain adjustment parameter to determine the first wheel distribution gain K1 and the second wheel distribution gain K2.
- the state quantity related to the lateral movement of the rear wheel W3, W4 of the actual vehicle 1 the state quantity related to the lateral movement of the rear part of the actual vehicle 1, the lateral force of the rear wheel W3, W4 of the actual vehicle 1, and these.
- the state quantity, lateral force, and parameters of the model vehicle on the sex model 16 may be used as the rear wheel gain adjustment parameters.
- 13 r_act 13 r_d of the model vehicle may be used as a rear wheel gain adjustment parameter to determine the third wheel distribution gain K3 and the fourth wheel distribution gain K4.
- the state quantity relating to the lateral movement of the front wheel Wl, W2 or the front part of the actual vehicle 1 and the state quantity relating to the lateral movement of the front wheel Wl or the front part of the model vehicle (the actual vehicle 1 Or the combined value of the lateral force of the front wheels W1 and W2 of the actual vehicle 1 and the lateral force of the front wheel Wf of the model vehicle and the gain adjustment parameter for the front wheels. May be used.
- the state quantity related to the lateral movement of the rear wheel W3, W4 or the rear part of the actual vehicle 1 and the state quantity related to the lateral movement of the rear wheel Wr or the rear part of the model vehicle (the state on the actual vehicle 1 side).
- the combined value of the lateral force of the rear wheel W3, W4 of the actual vehicle 1 and the lateral force of the rear wheel Wr of the model vehicle is used as the rear wheel gain adjustment parameter. May be.
- the first wheel distribution gain K1 and the second wheel distribution gain K2 are determined according to the weighted average value of j8 f_act of actual vehicle 1 and
- the 3rd wheel distribution gain K3 and 4th wheel distribution gain K4 may be determined according to the weighted average value with r_d.
- the weight related to the weighted average value may have a frequency characteristic (for example, a frequency characteristic that functions as a phase compensation element).
- the second provisional value of each of the ⁇ -wheel distribution gains ⁇ ( ⁇ 1, 2) for the front wheels Wl, W2 as well as the lateral force of the front wheels W1, W2 of the actual vehicle 1. It is determined according to the amount of state related to the lateral movement of the front wheel W or the front part of the model vehicle, or the lateral force of the front wheel Wf of the model vehicle, and the weights of the first and second provisional values are determined.
- the first provisional value of K1 for the first wheel W1 is determined according to
- the trend of the change of the second temporary value for i8 f_d May be the same as the trend of the first provisional change for j8 f_act.
- a weighted average value of the first provisional value and the second provisional value is determined as the first wheel distribution gain K1. The same applies to the second wheel distribution gain K2.
- 8 Determine the same as the first provisional value according to r_d.
- the tendency of the change of the second provisional value for i8 r_d may be the same as the tendency of the change of the first provisional value for iS rjct.
- the weighted average value of the first provisional value and the second provisional value is determined as the third wheel distribution gain K3.
- the first temporary value of each of Kl and K2 corresponds to the first temporary value for operating the front wheel side gain in the present invention
- the second temporary value of each of Kl and K2 corresponds to the second provisional value for operating the front wheel side gain in the present invention
- the combined value of the first temporary value and the second temporary value of Kl and K2 corresponds to the combined value for front wheel side gain operation in the present invention
- the first provisional values of K3 and K4 correspond to the first provisional values for operating the rear wheel side gain in the present invention
- the second provisional values of K3 and K4 are the same in the present invention. This corresponds to the second provisional value for operating the rear wheel side gain.
- the combined value of the first temporary value and the second temporary value of K3 and K4 corresponds to the combined value for rear wheel side gain operation in the present invention.
- K3 it is desirable to determine K3 so that the third wheel distribution gain K3 when j8 r_act is a positive value having a large absolute value becomes smaller as estm becomes smaller.
- K2 it is desirable to determine K2 such that the second wheel distribution gain K2 is smaller when j8 f_act is a positive value having a large absolute value.
- K4 it is desirable to determine K4 so that the fourth wheel distribution gain K4 is smaller when ⁇ r_act has a larger absolute value and a negative value as estm becomes smaller.
- the deviation amount ⁇ determined by the ⁇ j8 limiter 202 of the virtual external force determination unit 20a is obtained by simply setting the feedback moment basic required value Ml dmd to the state quantity deviations ⁇ err and ⁇ err close to 0. over and ⁇ over to be close to 0 (H! /, and to prevent ⁇ da and ⁇ da from deviating from their respective allowable ranges [ ⁇ damin, ⁇ damax], [ ⁇ damin, ⁇ damax] Md dmd may be determined.
- Mlbdmd may be determined by the following equation 28a using an appropriate coefficient Kl dmdl to Ki dmd4.
- Mlbdmd Kl dmdl ⁇ err + Klbdmd2- ⁇ err
- Equation 28a Mlbdmd is determined by this equation 28a is the provisional value of Mlbdmd determined by the feedback control law that brings the state quantity deviations ⁇ err and ⁇ err closer to 0 It is equivalent to determining Mlbdmd by correcting (sum of the first and second terms on the right side of Equation 28a) so that the deviations ⁇ over and ⁇ over approach 0.
- the dead zone excess feedback value moment required value MlbdmcLa which is a value obtained by passing M dmd determined by Equation 23 so that the state quantity deviations ⁇ err and j8 err are close to 0 through the dead zone processing unit 221.
- MlbdmcLa May be used as MlbdmcLa again with the value Mlbdmd_a modified by the following equation 28b (the equation using MlbdmcLa instead of the sum of the first and second terms on the right side of equation 28a) .
- the value obtained by passing Mlbdmd through the dead zone processing unit 221 is used as a temporary value of MlbdmcLa, and this temporary value is corrected so that the deviation amount over and ⁇ over approach 0, so that MlbdmcLa is determined.
- the virtual external force values Mvirtmp and Fvirtmp are determined by operating the virtual external force temporary values Mvirtmp and Fvirtmp so that y over and ⁇ over approach 0 by the ⁇ j8 limiter 202 as described above. I have to. Even with this alone, ⁇ d and j8 d of the model vehicle change so that they do not depart from the allowable ranges [ ⁇ damin, ⁇ damax] and [ ⁇ damin, ⁇ damax].
- the actuator operation FB target value changes so that ⁇ act and ⁇ act of the actual vehicle 1 approach ⁇ d and ⁇ d, respectively.
- y act and ⁇ act are also in the allowable range [ ⁇ damin, ⁇ damax], [ ⁇ Deviation from [damin, ⁇ damax] can be suppressed.
- Ml dmd or Ml dmcLa is determined so that ⁇ over and j8 over are also close to 0 (h!
- the virtual external forces Mvir, Fvir are The virtual external forces Mvir and Fvir may be determined so that ⁇ err and ⁇ err are close to 0 without necessarily determining that over and ⁇ over are close to 0.
- the temporary Sogairyoku provisional value determiner 2 01 sought virtual external force temporary values Mvirtmp, while the virtual external force Mvir of each Fvirtmp its may be determined as Fvir.
- the actuator operation FB target value can be determined so as to suppress the ⁇ act and ⁇ act from deviating from the allowable [ ⁇ damin, ⁇ damax] and [ ⁇ damin, ⁇ damax] forces, respectively.
- the virtual external forces Mvir and Fvir are determined so that the state quantity deviations ⁇ err and ⁇ err are close to 0.
- ⁇ d and j8 d of the model vehicle are allowed respectively.
- Yd and j8 d are determined so that deviation from the ranges [ ⁇ damin, ⁇ damax] and [ ⁇ damin, ⁇ damax] is suppressed.
- the relationship between the input and output of the actuator operation FB target value distribution processing unit 222 is configured so that the change in Fxl dmd_3 is monotonous.
- the relationship between the input and output of the actuator operation FB target value distribution processing unit 222 is configured. Further, as described above, by determining the values of K2 and K4 so that the sum of the distribution gains K2 and K4 becomes 1 or approaches 1, the front wheel side gain is reduced.
- the change force of Fxlbd md_4 of the right rear wheel W4 when only j8 f_act as the in-adjustment parameter changes monotonously The monotonic change in the opposite direction to the change of Fxlbdmd_2 of the right front wheel W2 Actuator action FB target value distribution so that the change of Fxlbdmd—2 on the right front wheel W2 when only ⁇ r_act of the wheel changes monotonously becomes a monotone change opposite to the change of Fxl dmd—4 of the right rear wheel W4 That is, the relationship between the input and output of the processing unit 222 is configured.
- FIG. 17 is a functional block diagram showing the processing of FF rule 22.
- the FF target front wheel rudder angle ⁇ f_ff is the steering angle of the driving operation input.
- the processing unit 230 determines the FF target front wheel steering angle ⁇ 3 ⁇ 4 by the same processing as the processing of the processing unit 14a of the reference manipulated variable determination unit 14. That is, Steari ⁇ ⁇ ⁇ is determined by dividing the angular angle ⁇ h by the predetermined overall steering ratio is or the overall steering ratio is set according to Vact.
- the value of ⁇ f_ff determined in this way is the same as the value of the unrestricted front wheel steering angle ⁇ Lunltd determined by the processing unit 14a of the reference manipulated variable determination unit 14.
- ⁇ f_ff3 ⁇ 4 it is not necessary to determine ⁇ f_ff3 ⁇ 4 when the steering device 3B is the above-described actuator assist type steering device or a mechanical steering device. Alternatively, ⁇ fj3 ⁇ 4 should always be set to 0. However, when the steering device 3B is an actuator assist type steering device and has a function of correcting the steering angle of the front wheels Wl and W2 mechanically determined according to the steering angle ⁇ h according to Vact. May determine the correction amount according to Vact and determine it as ⁇ f_ff.
- the steering device 3B is an actuator-assisted steering device
- the basic rudder angle (basic value of ⁇ f_act) of the front wheels Wl and W2 depends on the steering angle ⁇ h. Therefore, S f_ff has a meaning as a feedforward target value of the correction amount of the rudder angle of the front wheels Wl and W2 by the actuator.
- the value in the horizontal axis direction is the value of the brake pedal operation amount
- the value force FF target n-th wheel brake drive 'braking force in the vertical axis direction is the value of the brake pedal operation amount.
- the FF target n-th wheel brake drive 'braking force ( ⁇ 0) basically increases monotonically as the brake pedal operation amount increases (absolute value). To be determined.
- the FF target n-th wheel brake drive / braking force is saturated when the brake pedal operation amount exceeds a predetermined amount so that the magnitude of the brake force does not become excessive (FF against the increase in the brake pedal operation amount).
- Drive system actuator operation is determined by the FF target value determination unit 232.
- the drive system actuator operation FF target value determination unit 232 performs the process of driving from the engine to the drive wheels in a known ordinary vehicle according to the accelerator pedal operation amount, Vact and the shift lever position of the transmission. Since it may be the same as the method for determining the force and the reduction gear ratio of the transmission, a detailed description thereof will be omitted.
- FIG. 18 is a functional block diagram showing processing of the actuator operation target value synthesis unit 24. As shown in FIG.
- the actuator operation target value composition unit 24 relates to the first wheel W1, the FF target first wheel brake drive / braking force of the actuator operation FF target value, and the FF target first value.
- Adder 240 calculates the sum of the one-wheel drive train drive and braking force. Then, the sum is input to the optimum target first drive / braking force determining unit 241a_1 as the FF general target first wheel drive and braking force FFtotaLl. Further, the adder 242 obtains the sum of this FFtotaLl and the FB target first wheel brake drive'braking force Fxlbdmd_l among the actuator operation FB target values. Then, the sum is input to the optimum target first drive / braking force determination unit 241a_l as the unrestricted target first wheel drive / braking force Fxdmd_l.
- the actuator operation target value composition unit 24 relates to the second wheel W2, the FF target second wheel brake drive / braking force of the actuator operation FF target value, and the FF target second wheel drive system.
- Adder 243 calculates the sum of the driving and braking force. Then, the sum is input to the optimum target second driving / braking force determining unit 241a_2 as the FF general target second wheel driving / braking force FFtotal_2. Further, the adder 244 calculates the sum of this FFtotal_2 and the FB target second wheel brake drive / braking force Fxfbd md_2 among the actuator operation FB target values. Then, the sum is input to the optimum target second drive / braking force determination unit 24 la_2 as an unlimited target second wheel drive / braking force Fxdmd_2.
- the actuator operation target value composition unit 24 performs the FF target third wheel brake drive of the above-mentioned actuator operation FF target value for the third wheel W3 as it is. Input the target third wheel drive ⁇ braking force FFtotal_3 to the optimum target third drive ⁇ braking force determination unit 241a_3. Further, the adder 245 calculates the sum of this FFtotal_3 and the FB target third wheel brake drive'braking force Fxl dmd_3 among the actuator operation FB target values. Then, the sum is input to the optimum target third drive / braking force determination unit 241a_3 as the unrestricted target third wheel drive / braking force Fxdmd_3.
- the adder 246 obtains the sum of this FFtotal_4 and the FB target fourth wheel brake drive'braking force Fxl dmd_4 among the actuator operation FB target values. Then, the sum is input to the optimum target fourth drive / braking force determination unit 241a_4 as the unrestricted target fourth wheel drive / braking force Fxdmd_4.
- Driving the n-th wheel Wn by driving system operation 'Feedforward target value of braking power (FF target n-th wheel driving system driving ⁇ braking force) and driving the n-th wheel Wn by brake device operation ⁇ feeding of braking force It means the sum of the forward target value (FF target n-th wheel brake drive ⁇ braking force).
- the driving wheels of the actual vehicle 1 are the front wheels Wl and W2, and the rear wheels W3 and W4 are driven wheels. Therefore, for the rear wheels W3 and W4, the FF target n-th wheel brake
- the actuator motion target value synthesizing unit 24 includes the active steering FB target lateral force FylbdmcLf in the actuator motion FB target value, and the FF target front wheel steering angle ⁇ f_ff in the actuator motion FF target value. Is input to the optimum target active rudder angle determination unit 247, and the optimum target active rudder angle determination unit 247 determines the target front wheel rudder angle ⁇ fcmd which is the target value of the final rudder angle of the front wheels Wl and W2.
- this ⁇ fcmd is the steering angle of the front wheels Wl and W2 itself (the steering angle based on the longitudinal direction of the actual vehicle 1) by the operation of the actuator when the steering device 3B is the actuator-driven steering device. This means the final target value.
- the steering device 3B is the above-mentioned actuator assist type steering device, it means the final target value of the correction amount of the steering angle of the front wheels Wl and W2 by the operation of the actuator.
- FIG. 19 is a flowchart showing the processing of each optimum target n-th driving 'braking force determination unit 241a_n.
- 8 f_ ac t, there until n 3, 4 and the rear-wheel actual lateral to Beri angle ⁇ 8 when it, and the road surface friction coefficient (the ⁇ wheel Wn The friction coefficient between the road surface and the road surface) is the estimated friction coefficient estm, and based on this precondition, the unrestricted target n-th wheel drive and braking force Fxdmdji N wheel Wn driving n wheel driving n braking force candidate Fxcandji and n wheel slip ratio candidate ScancLn corresponding slip ratio value of wheel n Wn Ask.
- Non-Patent Document 1 There is a correlation as shown in Therefore, the road surface reaction force and the slip ratio of each wheel when the side slip angle and the road surface friction coefficient are certain values, respectively, are not necessarily independent values. It changes according to the above correlation (hereinafter referred to as wheel characteristic relationship).
- wheel characteristic relationship the slip ratio is a negative value when the driving'braking force is the driving force / braking force (> 0) in the driving direction, and the driving * braking force is the driving force / braking force ( ⁇ 0) in the braking direction. Sometimes it is a positive value.
- the map used in this processing is specified or estimated in advance through various experiments or the like, for example, based on the tire characteristics of the wheels W1 to W4 and the characteristics of the suspension device 3C. It may be created based on the specified or estimated wheel characteristic relationship. In addition, the contact load of the n-th wheel Wn may be added to the map as a variable parameter.
- the actual ground load Fzact_n of the n-th wheel Wn is input to the optimal target n-th driving / braking force determining unit 241a_n, and the actual lateral slip angle ⁇ f_act or ⁇ Fxcan d_n and ScancLn may be determined from r_act, the estimated friction coefficient ⁇ estm, and the actual ground contact load Fzact_n.
- the actual ground load Fzact_n since the fluctuation of the actual ground load Fzact_n is generally relatively small, the actual ground load Fzact_n may be regarded as a constant value.
- the upper limit value (> 0) and the lower limit value ( ⁇ 0) of the range should be determined as FxcancLn, which is closer to Fx dmd_n! ,.
- the relationship between the slip ratio that can be generated in the n-th wheel W n and the driving * braking force is generally the slip ratio.
- peak value is the extreme value
- slip ratio is the value on the horizontal axis
- driving 'braking force is the value on the vertical axis
- the slip ratio value closer to 0 of the two types of slip ratio values may be determined as the n-th wheel slip ratio candidate Scandji.
- the driving ratio falls within a range between 0 and the slip ratio value at which the braking force reaches its peak value.
- the n-th wheel slip ratio candidate Scandji may be determined.
- the n-th wheel drive when the maximum moment is generated and the braking force Fxmmaxji and the corresponding slip ratio the n-th wheel slip ratio when the maximum moment is generated
- the nth wheel drive's braking force Fxmmaxji when the maximum moment occurs is the slip angle j8 f_act or j8 r_act where the side slip angle of the nth wheel Wn is the actual side slip angle, and the road surface friction coefficient is the estimated friction coefficient.
- the road surface reaction force that can be generated by the nth wheel Wn (specifically, the driving force that can be applied to the nth wheel Wn from the road surface according to the wheel characteristic relationship) ⁇ the resultant force of braking force and lateral force)
- the moment in the direction around the center of gravity G of the actual vehicle 1 due to the road surface reaction force is the maximum when the force is directed to the same polarity (direction) as that of the feedback demand moment basic requirement value Ml d md. This means the driving force of the road surface reaction force.
- Fxmmaxji and Smmaxji indicate that the drive of the n-th wheel Wn is driven as the absolute value of the slip ratio increases from 0 in the relationship between the braking force and the slip ratio (the relationship according to the wheel characteristic relationship). It is determined within the region where the absolute value of the braking force increases monotonously. Therefore, Smmaxji is determined between the slip ratio value at which the driving'braking force reaches its peak value and zero.
- the driving / braking force and the slip ratio corresponding to the set may be determined as Fxmmax_n and Smmax_n, respectively!
- the nth Drive of wheel Wn (n 3 or 4) ⁇ Drive that maximizes the moment in the direction in which the resultant force is generated around the center of gravity G of the actual vehicle 1 from the combination of braking force and lateral force 'Exploring the set of braking force and lateral force.
- the driving / braking force and the slip ratio corresponding to the set may be determined as Fxmmax_n and Smmaxji, respectively.
- the actual ground load Fzact_n of the n-th wheel Wn may be included as a variable parameter, as in the case described for the process of S100.
- the processing of S104 to S112 is executed as described later, and the target n-th wheel drive 'braking force Fxcmdji is determined.
- the target n-th wheel drive / braking force Fxcmdji is determined so as to satisfy the following conditions (1) to (3).
- conditions (1) to (3) are conditions with higher priority in the order of conditions (1), (2), and (3). If the target n-th wheel drive / braking force Fcmd_n that satisfies all of the conditions (1) to (3) cannot be determined, the target n-th wheel is set so that the priority is high and the condition is preferentially satisfied.
- Driving ⁇ Braking force Fxcmdji is determined.
- Condition (2) Target n-wheel drive ⁇ Braking force When Fxcmdji has the maximum moment, n-th wheel drive 'When the braking force Fxmmax_n has the same polarity, Fxcmd_n magnitude (absolute value) is Fxmmax_n magnitude (absolute value) ) Must not be exceeded. In other words, Fxcmd_n> Fxmmax_n> 0 or Fxcmd_n ⁇ Fxmmax_n ⁇ 0! /,thing.
- Condition (3) The target n-th wheel drive and braking force Fxcmdji should match the n-th wheel drive and braking force candidate F xcand_n as much as possible (more precisely, the absolute value of the difference between Fxcmdji and Fxcand_n is minimized)
- the condition (1) is that the target n-th wheel drive 'braking force Fxcmdji is determined by the driver of the actual vehicle 1 in the braking direction of the n-th wheel Wn of the actual vehicle 1 requested by operating the brake pedal. This is a condition to prevent it from becoming smaller than the driving 'braking force (this corresponds to FFtotaLn).
- condition (2) is a condition for preventing the lateral force generated in the n-th wheel Wn from becoming too small corresponding to the target n-th wheel driving / braking force Fxcmdji.
- condition (3) is a condition for satisfying as much as possible the control request (target) of the operation of the actuator device 3 determined by the actuator operation FB target value determining unit 20b and the FF rule 22. is there.
- Fxcandji is the wheel characteristic relationship (the slip angle jS tac where the side slip angle of the n-th wheel Wn is the actual side, and the road surface friction coefficient is the estimated friction coefficient estm.
- the target n-th wheel drive / braking force Fxcmdji is expressed by the above-mentioned wheel characteristic relationship (the slip angle that the lateral angle of the n-th wheel Wn is actually Mostly, it is
- Target n-th wheel drive ⁇ Braking force Fxdmdji drive according to control request ⁇ braking force
- close to force the absolute value of the difference from FxdmcLn is minimized
- the processing of S104 to S112 is executed as follows. First, the process proceeds to S104, the magnitude relationship force 0 and Fxmmax_n determined in Fxcand_n and S102 determined in S100> Fxmmax- n Fxcand- n or 0 ⁇ Fxmmax- n Fxcand- n a is the force ⁇ not force a half [J cross To do. If this determination result is NO, the process proceeds to S106, and the value of Fxcand_n is substituted for the target n-th wheel drive 'braking force Fxcmd_n.
- Fxcand_n and Fxmmax_n have different polarities, or when Fxcand_n and Fxmmax_n have the same polarity and the size (absolute value) of Fxcand_n is less than the magnitude (absolute value) of Fxmmax_n
- Fxcmdji is determined so as to satisfy the conditions (2) and (3) (however, the condition (2) takes precedence).
- the process proceeds to S110, and the FF general target n-th wheel drive'braking force FFtotaLn and the current target n-th wheel drive'braking force Fxcmd_n (determined in S106 or S108 Value) to determine whether 0>Fxcmd_n> FFtotal_n. If the determination result is YES, the process proceeds to S112, and FFtotaLn is substituted for the target n-th wheel drive 'braking force Fxc md_n.
- the FF general target n-th wheel drive 'braking force FFt otaLn and the n-th wheel drive determined by S 106 or S 108' braking force candidate Fxcmdji is the driving force in the braking direction 'braking force and the magnitude of Fxcmdji (Absolute value) 1S If the value is smaller than FFtotaLn (absolute value), substitute the value of FFtotaLn into Fxcmdji. S110 judgment If the result is NO, the current Fxcmdji value is maintained.
- the target n-th wheel driving / braking force Fxcmdji is basically determined so as to satisfy the conditions (1) to (3) as described above by the processing of S104 to S112. If the target n-th wheel drive / braking force Fxcmdji that satisfies all of the conditions (1) to (3) cannot be determined, the target n-th wheel is set so that the priority is high and the condition is preferentially satisfied. Driving / braking force Fxcmdji is determined.
- the process of S114 is executed.
- the slip ratio corresponding to Fxcmdji determined in S106 to S112 as described above is determined as the target n-th wheel slip ratio Scmdji.
- Fxcmdji is one of Fxcand_n, Fxmmax_n, and FFtotaLn by the processing of S104 to S112.
- Fxcmd_n Fxcand_n
- the n-th wheel slip ratio candidate Scand_n obtained in S100 is determined as Scmd_n.
- the n-th wheel slip ratio Smmaxji at the time of the maximum moment generation determined in S102 is determined as Scmd_n.
- Fxcmd_n FFtotal_n
- the slip ratio corresponding to FFtotaLn may be obtained based on the map used in the process of S100, and the obtained slip ratio may be determined as Scmdji.
- the target n-th wheel drive / braking force Fxcmdji is determined, and then the corresponding target n-th wheel slip ratio Scmdji is determined.
- the target n-th wheel drive 'braking force Fxcmdji corresponding to this may be determined.
- the same processing as in the steps S104 to S112 is performed. Determine the target n-th wheel slip ratio Scmd_n. Then, after that, F xcmd_n corresponding to this Scmd_n may be determined.
- Scmd_n is a value between 0 and the slip ratio value at which the braking force becomes the peak value in the relationship between the slip ratio according to the wheel characteristic relationship of the n-th wheel Wn and the driving 'braking force. It is determined within the range.
- FIG. 20 is a functional block diagram showing processing of the optimum target active rudder angle determination unit 247.
- optimal target active steering angle determination unit 247 first sets FB target lateral force Fyl dmcLf for active steering determined by the above-mentioned actuator operation FB target value determination unit 20b to actual vehicle 1.
- FB which is the amount of change in the steering angle of the front wheels Wl, W2 required to be generated in the front wheels Wl, W2 (specifically, the resultant force of the lateral force of the front wheel W1 and the lateral force of the front wheel W2 is changed by Fyf dmdj ⁇ )
- the active steering angle ⁇ fj is determined by the processing unit 247a based on Fyl dmdj ⁇ .
- the cornering power Kf_l of the first wheel W1 is obtained by a predetermined function equation or map according to the actual grounding load FzacU of the first wheel W1, and the actual grounding load of the second wheel W2 is determined.
- the cornering power Kf_2 of the second wheel W2 is obtained using a predetermined function or map.
- the above function expression or map is preliminarily set based on the tire characteristics of the front wheels Wl and W2 of the actual vehicle 1. Then, using these cornering powers Kf_l and Kf_2, the FB active steering angle ⁇ fj is determined by the following equation 30.
- the optimum target active steering angle determination unit 247 determines the target front wheel steering angle S fcmd by adding ⁇ fjb determined as described above to the FF target front wheel steering angle S f_ff by the adder 247b.
- the actuator drive control device 26 operates the actuator device 3 of the actual vehicle 1 so as to satisfy the target value determined by the actuator operation target value synthesis unit 24.
- the driving system of the first wheel W1 by the operation of the driving system of the driving / braking device 3A 'the driving system so that the braking force (driving in the driving direction / braking force) becomes the target first wheel driving system driving / braking force.
- the actuator operation amount is determined and the drive system is operated accordingly.
- the steering device 3B is an actuator-driven steering device
- the amount of operation of the actuator of the steering device 3B is determined so that the actual front wheel steering angle S f_act matches the target front wheel steering angle S fcmd. Accordingly, the operation of the steering device 3B is controlled accordingly.
- the steering device 3B is an actuator-assisted steering device
- the actual front wheel rudder angle S f_act is the difference between the target front wheel rudder angle S f_cmd and the mechanical rudder angle corresponding to the steering angle ⁇ h.
- the operation of the steering device 3B is controlled to match the sum.
- the reduction ratio of the transmission of the driving system of the driving / braking device 3A is controlled in accordance with the target transmission reduction ratio.
- the operations of the steering device 3B and the suspension device 3C are likely to interfere with each other. This In such a case, in order to control the control amount to the target value, it is desirable to integrally control the operations of the driving and braking device 3A, the steering device 3B, and the suspension device 3C by non-interference processing.
- Actuator operation The FB target value is originally determined to satisfy the feed knock moment basic required value Ml dmd according to the state quantity deviations ⁇ err and ⁇ err. Force feed knock control theory The top is ideal. However, in the first embodiment, due to the processing of the dead zone processing unit 221, the limiter 222d_n, etc., the one direction generated around the center of gravity G of the actual vehicle 1 by the actuator operation FB target value. The moment of is over and under relative to Ml dmd.
- the actuator operation FB target value force Depending on the non-linearity (limiter, saturation characteristics, etc.) in each processing function unit (actuator operation target value synthesis unit 24, etc.) up to the actuator operation target value, it depends on the actuator operation FB target value.
- the road surface reaction force generated on each wheel W1 to W4 of the actual vehicle 1 may cause excess or deficiency with respect to the actuator operation FB target value. Therefore, the road surface reaction force generated at each wheel W1 to W4 of the actual vehicle 1 may be excessive or insufficient with respect to the ideal road surface reaction force for bringing the state quantity deviations ⁇ err and ⁇ err close to zero.
- the ideal road surface reaction force generated on each wheel W1 to W4 of the actual vehicle 1 is obtained.
- the virtual external force applied to the model vehicle is corrected in accordance with the excess / deficiency with respect to the general road surface reaction force, thereby compensating for the excess / deficiency.
- the virtual external force determination unit 20a of the FB distribution rule 20 includes a processing unit 215 in addition to the functions in the first embodiment. .
- the processing unit 215 first, the actuator operation FB target value (current value) determined as described above by the actuator operation FB target value determination unit 20b is input to the processing unit 215a. Then, by this processing unit 215a, the correction amount of the road surface reaction force acting on each wheel W1 to W4 of the actual vehicle 1 due to the actuator operation FB target value (the road surface reaction force generated corresponding to the actuator operation FF target value) The road surface reaction force correction amount is calculated. In this case, the road surface reaction force correction amount is obtained as follows.
- the driving value of the n-th wheel Wn is estimated as Fxcmdji
- the lateral force may be obtained using, for example, a map based on the wheel characteristic relationship. More specifically, the lateral force may be obtained using, for example, S200 and S202 described later, Formula 40, and the like.
- n l, 2.
- the difference in the road surface reaction force of the n-th wheel Wn which is obtained with different actuator operation FB target values as described above, is obtained, and the difference is determined as the road surface reaction force correction amount of the n-th wheel Wn.
- the road surface reaction force correction amount for the nth wheel Wn is generated around the center of gravity G of the actual vehicle 1, based on the parameters that define the geometric relationship between the wheels W1 to W4 and the center of gravity of the actual vehicle 1. Find the moment of direction. And Ml is calculated
- a virtual external force compensation moment Mvir_c is determined by multiplying the actual vehicle moment difference Ml_err by a predetermined gain Cl in the multiplication unit 215d.
- the gain Cl is a value that is 0 and Clb ⁇ 1 (a positive value less than 1).
- This virtual external force compensation moment Mvir_c is the difference between the actual vehicle 1 generated by Mlbd md and the model vehicle. This means a momentary moment that should be generated around the center-of-gravity point Gd of the model vehicle so that the state quantity deviation in between approaches 0.
- the influence of the nonlinearity of the state quantity deviations ⁇ err and ⁇ err up to the actuator operation target value on the behavior of jS err and ⁇ err is reduced, and ⁇ err and err are It tries to converge to 0 while keeping the linearity high.
- FIGS. a third embodiment of the present invention will be described with reference to FIGS. Note that this embodiment is different from the first embodiment only in part of the processing, and thus the differences will be mainly described and the description of the same portions will be omitted.
- the same reference numerals as those in the first embodiment are used for the same components or the same functional parts as those in the first embodiment.
- FB target n-th wheel brake drive meaning braking force correction required value (state value deviation ⁇ err, correction required value to make err approach 0) Brake force Fxl dmd_ n did.
- This FB target n-th wheel brake moment MlbdmcLn is determined by the road surface reaction force (specifically, the combined force of the braking force and lateral force) applied to each wheel W1 to W4 by the operation of the braking device of the driving 'braking device 3A.
- Required correction value of moment in the direction around the center of gravity G (in order to bring the state quantity deviations ⁇ err and ⁇ err closer to 0) (Required correction value).
- the actuator operation target value is determined using this FB target n-th wheel brake moment Ml dmcLn.
- the processing of the FB distribution rule 20 actuator operation FB target value determination unit 2 Ob and the processing of the actuator operation target value synthesis unit 24 are different from those of the first embodiment.
- Other configurations and processes are the same as those in the first embodiment.
- Midmd_a is used as the basic request operation amount to bring the state quantity deviations ⁇ err and ⁇ err close to 0 as described below, as in the first embodiment.
- the operation amount and the control input for driving'braking force operation are the same type of operation amount.
- FIG. 22 is a functional block diagram showing processing functions of the actuator operation FB target value determination unit 20b in the present embodiment.
- the actuator operation FB target value determination unit 20b first executes the same processing as in the first embodiment by the processing units 220 and 221, and the feedback moment basic required value Ml dmd and the dead zone respectively.
- the excess feedback moment demand value Ml dmcLa is determined.
- the actuator operation FB target value determination unit 20b executes the processing of the actuator operation FB target value distribution processing unit 222 to determine the actuator operation FB target value.
- the FB target lateral force for active steering is determined by the Fyl dmdj ⁇ processing unit 222e.
- the processing of the processing unit 222e is the same as that in the first embodiment. Note that the processing unit 222e may be omitted.
- the method of determining the ⁇ -th wheel distribution gain ⁇ is the same as in the first embodiment. That is, Kl and ⁇ 2 related to the front wheels Wl and W2 are determined according to the actual front wheel side slip angle iS Lact as the front wheel side gain adjustment parameter, for example, as shown in the graph of FIG. 14 (a). . Further, K3 and K4 related to the rear wheels W3 and W4 are, for example, shown in the graph of FIG. 14 (b) according to the actual rear wheel side slip angle j8 r_act as the rear wheel gain adjustment parameter.
- the polarity (direction) of Ml_n determined in this way is the same as MlbdmcLa.
- the n-th wheel distribution gain Kn may be determined in any of the forms described in the first embodiment, in addition to the determination according to 13 f_act or 13 r_act as described above. In this case, as for the front wheel side gain adjustment parameter and the rear wheel side gain adjustment parameter, parameters other than i8 f_act,
- 8 may be used as in the first embodiment.
- FB target n-th wheel brake moment MlbdmcLn is determined by passing through corresponding limiter 222g_n.
- the value of Ml_n, the value in the vertical axis direction is the value of MlbdmcLn.
- _n is output as Ml dmd_n as it is, and when Ml _n is a positive value, the output MlbdmcLn is set to 0 regardless of the value of Ml _n. In other words, MlbdmcLn is determined by limiting Ml_n with 0 as the upper limit.
- the relationship between the change in MlbdmcLa and the change in Ml dmd_l and Mlbdm d_3 is proportional.
- the first wheel distribution gain K1 as the front wheel gain and the third wheel distribution gain K3 as the rear wheel gain are the front wheel gain adjustment parameter ( ⁇ f_act in this embodiment), the rear wheel gain, respectively. It changes according to the wheel side gain adjustment parameter ( ⁇ r_act in this embodiment).
- MlbdmcLa is 0, the driving / braking device 3A's braking device 3A operates to correct the road surface reaction force of the right wheels W2, W4 of the actual vehicle 1 by the operation of the braking device 3A.
- MlbdmcLn which generates a moment in one direction around the center of gravity G of the actual vehicle 1, is determined.
- Ml dmd_2 and Ml dmd_4 of the second wheel W2 and the fourth wheel W4 are proportional to MlbdmcLa (a value obtained by multiplying MlbdmcLa by K2 or K4).
- the relationship between the change in MlbdmcLa and the change in Mldmd_2 and Mlbdmd_4 is proportional.
- the second wheel distribution gain K2 as the front wheel gain and the fourth wheel distribution gain K4 as the rear wheel gain are the front wheel gain adjustment parameter ( ⁇ f_act in this embodiment) and the rear wheel gain, respectively.
- the gain changes according to the gain adjustment parameter ( ⁇ r_act in this embodiment).
- limiter 222g_n (second wheel W2 and fourth wheel W4) For n 2, 4), Ml dmcLn may be determined by limiting Ml_n with a value slightly larger than 0 as the upper limit of Ml dmcLn!
- FIG. 23 is a functional block diagram showing the processing function of the actuator operation target value synthesis unit 24, and FIG. 24 is a flowchart showing the processing of the optimum target n-th driving 'braking force determination unit among the processing functions.
- the actuator operation target value synthesis unit 24 in the present embodiment is configured to determine the target n-th wheel drive / braking force Fxcmdji and the target n-th wheel slip ratio Scmdji.
- the process of the optimum active rudder angle determination unit 247 is the same as that of the first embodiment.
- the process of the optimal target n-th driving'braking force determining unit 241b_n is different from the first embodiment.
- the actuator operation target value synthesis unit 24 as in the first embodiment, the FF target first wheel drive system driving / braking power, FF target among the actuator operation FF target values determined by the FF rule 22 Second wheel drive system drive 'braking force and FF target mission reduction ratio are output as target first wheel drive system drive' braking force, target second wheel drive system drive, braking force, target mission reduction ratio, respectively. To speak.
- FF target n-th wheel brake drive ⁇ braking force and FF target n-th wheel drive system drive ⁇ braking force is the sum of FF overall target n-th wheel drive ⁇ braking force FFtotaLn (This is the same as in the first embodiment. Similarly, it is obtained by the adder 240) and the FB target n-th wheel brake moment Ml dmd_n of the actuator operation FB target value determined by the actuator operation FB target value determination unit 20b is input.
- FF target n-th wheel brake drive ⁇ The braking force is input as FF general target n-th wheel drive ⁇ braking force FFtotaLn, and the actuator operation FB target value determining unit 20b determines the actuator operation FB target value.
- FB target n-th wheel brake moment MlbdmcLn is input.
- the latest value of ac t (current value) and the latest value of estimated friction coefficient ⁇ estm (current value) are also entered.
- 8 f_act, n 3 or 4 up to actual rear wheel side slip angle ⁇ 8 and road surface friction coefficient (Friction coefficient between wheel n of wheel n and road surface)
- the slip ratio Sff_n corresponding to the FF general target nth wheel drive / braking force FFtotaLn is obtained based on the precondition that the estimated friction coefficient is z estm.
- the force that matches FFtotaLn or the value of the slip ratio that corresponds to the closest driving' braking force is obtained as Sff_n.
- a slip ratio corresponding to FFtotaLn is obtained based on the map used in the processing of S100 in FIG. 19 in the first embodiment, and the obtained slip is obtained.
- the slip ratio may be determined as Sff_n, and if there are different types of slip ratio values corresponding to FFtotaLn, the slip ratio closer to 0 is determined as Sff_n.
- the drive' between the slip ratio value at which the braking force reaches its peak value (extreme value) and 0 Sff_n is determined within the range of. Also, if FFtotaLn deviates from the range of driving / braking force values that can be generated in the n-th wheel Wn based on the above preconditions, the driving closest to FFtotaLn corresponds to the braking force value.
- the slip ratio value is determined as Sff_n.
- the lateral force FyflLn of the n-th wheel Wn when the slip ratio of the n-th wheel Wn is Sff_n is obtained.
- the lateral force Fyff_n may be obtained from the actual side slip angle j8 f_act or j8 r_act value of the wheel Wn, the estimated road friction coefficient estm value, and the Sff_n value.
- the map may include the actual contact load Fzact_n of the nth wheel Wn as a variable parameter.
- Mff_n can be obtained by calculating the outer product (vector product) of the position vector and the resultant vector.
- the position vector of the center of gravity G of the actual vehicle 1 viewed from the n-th wheel Wn (position on the horizontal plane) Mff_n can be obtained by calculating the outer product (vector product) of the vector (this is preliminarily set) and the resultant vector.
- the routine proceeds to S206, where Mff_n obtained as described above and the FB target brake moment MlbdmcLn are added together to obtain a moment around the center of gravity G of the actual vehicle 1 due to the road surface reaction force of the n-th wheel Wn.
- a temporary target moment candidate M cand_n that is a temporary target value of moment in one direction is calculated.
- Mcand_n is the center of gravity of the actual vehicle 1 according to the control request at the nth wheel Wn. This means the moment in the direction of the arrow to be generated around point G.
- the n-th wheel slip ratio Smmaxji when the maximum moment occurs is determined. This is executed in the same manner as in the case of obtaining the n-th wheel slip ratio Smmax_n when the maximum moment is generated in S102 of Fig. 19 in which the Smmaxji is the driving 'braking force generated in the n-th wheel Wn correspondingly.
- the moment (maximum moment) generated around the center of gravity G of the actual vehicle 1 due to the resultant force of the lateral force is determined so as to be maximized toward the polarity (direction) of the feedback demand moment basic requirement value Ml dmd. .
- the relationship between the actual side slip angle of the n-th wheel Wn, the road surface friction coefficient, the slip ratio, the drive'braking force and the lateral force is represented.
- the target n-th wheel slip ratio Scmd_n is determined by the processing of S212 force and S216.
- Scmd_n is determined so that the absolute value of the driving corresponding to Scmdji * braking force (driving in the braking direction * braking force) is not smaller than the absolute value of the FF general target n-th wheel drive and braking force FFtotaLn.
- S212 it is determined whether or not ScancLn>Sff_n> 0. When the determination result is YES, the process proceeds to S214, and the value of ScancLn is substituted for Scmd_n. If the determination result in S212 is NO, the process proceeds to S216, and the value of Sff_n is substituted for Scmd_n.
- the process proceeds to S218, and the driving / braking force of the n-th wheel Wn corresponding to Scmd_n determined as described above is determined as the target n-th wheel driving / braking force Fxcmdji.
- Fxcmdji corresponding to the value of Scmd_n is determined on the basis of a map prepared in advance that represents the relationship between the slip ratio and the driving braking force.
- the target n-th wheel drive / braking force Fxcmdji is calculated based on the wheel characteristic relationship (the It can be generated on the n-th wheel Wn according to the wheel characteristics) assuming that the lean angle is the actual side slip angle / 3 f_act or 13 r_act and the road surface friction coefficient is the estimated friction coefficient ⁇ estm.
- the driving / braking force component is equal to Fxcmdji U
- the moment in the one direction generated around the center of gravity G of the actual vehicle 1 should be as close as possible to the above-mentioned Mc and_n (the absolute value of the difference from Mcand_n should be minimized)
- This condition is used.
- condition (3) ′ condition (1) is the highest condition
- condition (2) is the next order condition.
- the target n-th wheel driving / braking force Fxcmdji is determined so as to satisfy these conditions (1), (2), and (3) 'according to the priority order.
- Fxcmdji is determined so as to satisfy the condition (3) ′ as much as possible within the range in which the condition (2) can be satisfied. That is, the driving 'braking force corresponding to ScancLn determined in the processing of S210 (the driving' braking force corresponding to Scmdji when the determination result in S212 is YES) is determined as the target n-th wheel driving / braking force Fxcmdji The Fxcmdji satisfies the conditions (2) and (3) 'with the condition (2) as the priority condition. Furthermore, Fxcmdji is determined to satisfy the highest priority condition (1) through the processing of S212 to S216.
- each optimum target n-th driving / braking force determination unit 241a_n includes the FF total n-th wheel driving / braking force FFtotaLn and the unrestricted n-th wheel drive.
- each optimal target n-th driving'braking force determining unit 241a_n drives the n-th wheel Wn's driving'braking force and lateral force based on the input estimated friction coefficient estm and the actual road surface reaction force of the n-th wheel Wn. Estimate the relationship with force. Further, using the estimated relationship, the target n-th wheel drive / braking force FxcmcLn and the target n-th wheel slip ratio Scmd_n are determined.
- Equation 40 ⁇ is the road friction coefficient
- Fz_n is the ground load of the ⁇ -th wheel Wn
- Fy0_n is the lateral force when the driving force of the n-th wheel Wn is the braking force Fx_n force ⁇ .
- Fy0_n generally varies depending on the side slip angle of the n-th wheel Wn.
- the polarity of Fy0_n is opposite to the polarity of the actual slip angle of the n-th wheel Wn.
- this equation 40 is used to calculate FxcmcLn and Scmd_n. decide.
- the actual road surface reaction force value is used to specify FyO_n in Equation 40.
- FIG. 25 is a flowchart showing the processing.
- FyO_n the value of FyO_n is determined.
- sqrt (A) A is a general variable
- the polarity (sign) of FyO_n is the same as Fyact_n.
- Equation 40 when the value of FyO_n is the value determined in S300) as a constraint condition (a constraint condition that defines the relationship between Fx_n and Fy_n)
- the unrestricted n-th wheel drive / braking force Fxdmdji (including the case where it coincides) and the driving / braking force Fx_n are obtained and set as the n-th wheel drive 'braking force candidate Fxcandji.
- the range of values that the driving 'braking force Fx_n can take under the constraint of Equation 40 is the range between / z' Fzactji and 'Fzact_n.
- ⁇ 'Fzactji means the maximum frictional force between the n-th wheel Wn and the road surface. Therefore, if the FxdmcLn value is within this range [ ⁇ -Fzact.n, ⁇ 'Fzact_n], FxdmcLn is determined as FxcancLn as it is, and the Fxdmd_n value range [- ⁇ -F zact_n, ⁇ If it deviates from 'Fzact_n], the value close to F xcmd_n of ⁇ ' Fzact_n and 'Fzact_n is determined as FxcancLn.
- FIG. 26 schematically shows the actual vehicle 1 in a plan view, and an ellipse C1 in the figure indicates an ellipse represented by the formula 40 above.
- the point on the ellipse C1 that corresponds to the Fx_l, Fy_l pair that produces the maximum moment around the center of gravity G of the actual vehicle 1 is the center of the first wheel W1 and the center of gravity of the actual vehicle 1 on the horizontal plane.
- the straight line um in contact with the ellipse C1 is the contact point Ps of the ellipse C1.
- Fxcand_l is a negative (braking direction) driving / braking force
- Fx_l at the contact Ps is also a negative value.
- Equation 42 The meanings of df and Lf in Equation 42 are the same as those in FIG.
- Equation 40 the following Equation 43 is obtained.
- Fxmmax— 1 ⁇ estm 'Fzact— 1 / sqrt (l + FyO_l / (tan ⁇ ⁇ ⁇ estm' Fzact— l 2 )
- Equation 44 This equation 44 and the equation 42 are equations for obtaining Fxmmax_l.
- Fxcand_l is a positive value
- Fxmmax_l is a value obtained by inverting the sign of the calculation result on the right side of Equation 44.
- the actual steering angle is 0, so that value is not necessary.
- the routine proceeds to S316, where the slip ratio corresponding to Fxcmdji is obtained and determined as the target n-th wheel target slip ratio Scmdji.
- the target n-th wheel slip ratio Scmd_n is determined on the basis of a predetermined map representing the relationship between the driving force of the n-th wheel Wn and the braking force and the slip ratio.
- the map used here is a map corresponding to a combination of ⁇ estm and the actual slip angle j8 Lact or 13 r_act (some! / Is Fy0_n) of the n-th wheel Wn.
- the target n-th wheel driving / braking force Fxcmdji is determined so as to satisfy the same conditions as the above conditions (1) to (3). And all of the conditions (1) to (3) If the target n-th wheel drive / braking force Fxcmdji that satisfies the above conditions cannot be determined, the target n-th wheel drive / braking force Fxcmdji is determined so as to satisfy the conditions with higher priority.
- each optimum target n-th driving / braking force determination unit 241b_n includes the FF total n-th wheel driving / braking force FFtotaLn and the unrestricted n-th wheel drive.
- each optimal target n-th driving'braking force determining unit 241b_n is based on the input estimated friction coefficient estm and the actual road surface reaction force of the n-th wheel Wn.
- the target n-th wheel driving / braking force Fxcmdji and the target n-th wheel slip ratio Scmdji are determined using the estimated relationship.
- FIG. 27 is a flowchart showing the process of each optimum target n-th driving / braking force determining unit 241b_n in the present embodiment.
- S400 the same processing as in S300 in FIG. 25 is executed, and the value of Fy0_n in Expression 40 is obtained.
- a lateral force Fyff_n corresponding to the FF general target nth wheel drive / braking force FFtotaLn is obtained. That is, by substituting the values of FFtotal_n, Fzact_n, and ⁇ estm for Fx_n, Fz_n, and ⁇ in Equation 40, respectively, and substituting the values obtained in S400 for FyO_n of Equation 40 (in other words, Determine the value of Fyff_n by the formula shown in the figure.
- the process proceeds to S408, and the road surface reaction force (the resultant force of the driving / braking force Fx_n and the lateral force Fy_n) of the n-th wheel Wn is the center of gravity G of the actual vehicle 1 with Equation 40 as a constraint.
- the driving force of the road surface reaction force such that the one-way moment generated around the point is the same as the polarity of the feedback torque moment Ml dmd and the maximum force is applied to the polarity.
- the process proceeds to S410, and the road surface reaction force (the resultant force of the driving / braking force Fx_n and the lateral force Fy_n) of the n-th wheel Wn is the center of gravity G of the actual vehicle 1 with Equation 40 as a constraint.
- the Fx_n when the unidirectional moment generated around is equal to or closest to McancLn is determined as the driving force candidate Fxcandji of the nth wheel Wn (the nth wheel drive 'braking force candidate Fxcandji) .
- Fxcand_n is determined (in other words, the force of FxcancLn is different from that of Fxmmax_n, or the absolute value of Fxcand_n is less than the absolute value of Fxmmax_n).
- Fxmmax_n is determined as FxcancLn.
- Fx_n and Fy_n there are two pairs of Fx_n and Fy_n where the resultant force of Fx_n and Fy_n coincides with Mcand_n in the same direction as the momentary moment generated around the center of gravity G of the actual vehicle 1.
- Fxmmax_n ⁇ 0
- Fx_n that satisfies Fx_n> Fxmmax_n is determined as Fxcand_n.
- Fxmmax_n> Fx_n that satisfies Fx_n and Fxmmax_n is determined as Fcand_n.
- the process proceeds to S412 and it is determined whether or not 0> FFtotal_n> FxcancLn. If the determination result is YES, the process proceeds to S414, and the value of FxcancLn is assigned to Fxcmd_n. If the determination result in S412 is NO, the process proceeds to S416, and the value of FFtotal_n is assigned to Fxcmdji. As a result, the target n-th wheel drive / braking force Fxcmd is determined.
- condition (3) ′ in the present embodiment is a value within the range of the value of the driving “braking force” that can be generated in the n-th wheel Wn according to the equation (40), and the wheel characteristics.
- the driving * braking force component is equal to Fxcmdji, etc., and a moment in the direction of the direction around the center of gravity G of the actual vehicle 1 is possible due to the road surface reaction force As long as the force matches or is close to Mcand_n (difference from Mcand_n The absolute value of is to be minimized).
- the condition (3) ′ and the conditions (1) and (2) the condition (1) is the highest condition, and the condition (2) is the next order condition.
- the target n-th wheel drive / braking force FxcmcLn is determined so as to satisfy 1), (2), and (3) 'according to the priority order.
- Fxcmd_n is determined so as to satisfy the condition (3) ′ as much as possible within the range in which the condition (2) can be satisfied. Furthermore, FxcmcLn is determined so as to satisfy the highest priority condition (1) through the processing of S412 to S416.
- the force using the normative rate yd and the slip angle j8 d transverse to the normative vehicle center point as the normative state quantity may be as follows. For example, only the normative rate ⁇ ⁇ is sequentially obtained as the normative state quantity by the normative dynamic characteristic model. Then, the standard dynamic characteristic model and the actuator device 3 of the actual vehicle 1 may be operated so that the state quantity deviation ⁇ err, which is the difference between the actual current rate ⁇ act and the standard current rate ⁇ d, approaches 0. . In this case, instead of the normative dynamic characteristic model 16 expressed by the equation (1), for example, the normative rate ⁇ d may be sequentially determined by the normative dynamic characteristic model 56 shown in FIG.
- This reference dynamic characteristic model 56 is used to operate the steering angle ⁇ h, the actual travel speed Vact, and the reference dynamic characteristic model 56.
- the virtual external force moment (moment in one direction) Mvir as the control input (control input to bring ⁇ err closer to 0) is sequentially input every control processing cycle. Note that 0 h and Vact are the latest values (current value), and Mvir is the previous value.
- the reference dynamic characteristic model 56 first obtains the settling target rate ⁇ from the input ⁇ h, Vact parameter and the settling target value determination map 56a.
- the set target target rate ⁇ is the convergence value of the correct rate of the model vehicle (the vehicle on the reference dynamic characteristic model 56 in this embodiment) when ⁇ h and Vact are constantly maintained at their input values. Means.
- the settling target value determination map 56a should be set according to the estimated friction coefficient estm. Is desirable.
- the previous value of the normative yo rate yd (the value obtained in the previous control processing cycle from the normative dynamic characteristic model 56) and the settling target gyrate ⁇ are input to the flywheel following law 56b.
- the flywheel FB moment Ml is determined by this flyhole tracking control law 56b.
- the rotational motion of the model vehicle in the direction of the arrow is expressed by the rotational motion of a horizontal flywheel (a flywheel whose rotation axis is a vertical axis).
- the rotational angular velocity of the flywheel is output as a reference yorate ⁇ d.
- the flywheel following law 56b is a feedback control law (for example, a proportional law, a proportional law, etc.) so that the rotational angular velocity of the flywheel, that is, the reference yorate ⁇ ⁇ converges to the set target yorate ⁇ .
- the flywheel FB moment M f as a moment input to the flywheel (control input of the dimension of the external force input to the flyhole) is determined by a differential law.
- the reference dynamic characteristic model 56 determines the flywheel input (moment) by adding the virtual external force moment Mvir to this Mlb in the adder 56c. Then, the rotational angular acceleration of the flywheel is obtained by dividing this input moment by the inertia moment J of the flywheel in the processing unit 56d. Furthermore, the value obtained by integrating the rotational angular acceleration (in the figure, the integration is expressed by the operator “lZs”) is output as the normative rate y d.
- the value of the moment of inertia J of the flywheel may be set to the same force or almost the same value as the value of the moment of inertia around the center of gravity G of the actual vehicle 1, for example.
- a value identified while the actual vehicle 1 is traveling may be used.
- processes other than the normative dynamic characteristic model 56 in the modification 1 may be the same as those in the first embodiment, for example.
- Mvir is determined, and the Mvir is fed back to the reference dynamic characteristic model 56.
- ⁇ da for example, the reference dynamic characteristic model 5 from the current value of Vact, ⁇ h and the provisional value Mvirtmp of Mvir according to y err It is sufficient to predict the value of the vehicle above 6 for a predetermined time and use that predicted value as ⁇ da.
- a current value of ⁇ act or a linear combination value of y act and ⁇ d may be used as ⁇ da.
- iS err is set to 0, and the processing described in the first embodiment is executed. It should be noted that in this variant 1, the process of the reference manipulated variable determiner 14 is not necessary. Other than this, the processing may be the same as that described in the first embodiment.
- the base state quantity relating to the translational movement in the lateral direction of the vehicle (actual vehicle 1 and model vehicle) and the base state quantity relating to the rotational motion (as the first state quantity in the present invention)
- the slip angle ⁇ and the yorate ⁇ across the center of gravity of the vehicle are used, other state quantities may be used.
- the description of the motion of the vehicle may be converted from a system based on j8 and ⁇ to a system based on a set of other state quantities using an appropriate conversion matrix.
- the vehicle side slip velocity Vy which is the side slip velocity of the vehicle center of gravity (the lateral component of the running speed Vact) may be used instead of the vehicle center of gravity side slip angle ⁇ .
- the vehicle running speed Vact changes slowly compared to the vehicle's center-of-gravity point slip angle j8 rate ⁇ , and the running speed Vact can be considered constant, the following formulas 50a, 50b Therefore, ⁇ and d ⁇ / ⁇ (time derivative of ⁇ ) can be converted to Vy and dVy / dt (time fraction of Vy), respectively.
- vehicle side slip acceleration ay which is the lateral acceleration of the vehicle's center of gravity (the rate of change in time of Vy)
- yorate ⁇ You can use it as a quantity!
- Equation 51 the change in the vehicle running speed Vact is slower than the side slip angle ⁇ ⁇ rate y.
- Vact can be regarded as constant (when it can be regarded as dVact / dt ⁇ O)
- the following equation 52 is approximately established based on the equations 01 and 51.
- the vehicle motion description is based on the system based on j8 and ⁇ , the system based on ⁇ ⁇ , and the system based on ay and ⁇ .
- the “slip angle to the side of the vehicle center of gravity” in each of the above embodiments is set to “the vehicle side slip velocity Vy” or “the vehicle side This should be read as “bending acceleration”. Therefore, an embodiment using a set of Vy and ⁇ or a set of ay and ⁇ as a state quantity can be constructed in the same manner as the first to fifth embodiments.
- the side slip angle j8 or the side slip speed Vy at the center of gravity of the vehicle instead of the side slip angle j8 or the side slip speed Vy at the center of gravity of the vehicle, the side slip angle of the vehicle at a position other than the center of gravity (for example, the position of the rear wheel) Side slip velocity, side slip acceleration, or lateral acceleration may be used.
- Side slip velocity, side slip acceleration, or lateral acceleration may be used.
- the description of the vehicle motion is based on the slip angle j8 transverse to the center of gravity of the vehicle and the system ⁇ ⁇ , and the side slip angle, side slip velocity, lateral It can be converted to a system based on the sliding acceleration or lateral acceleration and ⁇ .
- the amount subject to the restriction in the FB distribution rule 20 is used, instead of the slip angle / 3 of the vehicle center of gravity of the actual vehicle 1 or model vehicle, The predicted value of side-slip acceleration or lateral acceleration, current value (latest value), or filtering value may be used.
- the vehicle side slip angle, side slip speed, side slip acceleration, or lateral acceleration predicted value, current value (latest value), or filtering value is restricted at positions other than the center of gravity of the vehicle. It may be used as a target amount.
- a force using virtual external forces Mvir and Fvir is used as a control input for model operation to bring the state quantity deviations ⁇ err and ⁇ err closer to 0. It is not limited to external force.
- the model vehicle is caused to generate a compensation amount (required correction amount) of the road surface reaction force corresponding to the virtual external force (and so that the state quantity deviation approaches 0). The angle and the driving / braking force of the wheel of the model vehicle may be operated.
- the reference dynamic characteristic model is a linear system (a system in which the road reaction force on the reference dynamic characteristic model has no saturation characteristic), the steering angle of the model vehicle and the wheel of the model vehicle By manipulating the driving force and braking force, it is possible to have the same effect as when a virtual external force is applied to the model vehicle.
- equation 60 may be used instead of equation 01 as an equation representing the dynamic characteristic of the reference dynamic characteristic model.
- the reference dynamic characteristic model expressed by Equation 60 is a compensation amount of the steering angle of the front wheel of the model vehicle.
- This model uses feedback control input for operation.
- al2, a21, a22, bl, and b2 in Formula 60 may be the same as those shown in the proviso of Formula 01 above.
- the fourth term on the right side of Equation 60 is the moment that the compensation amount Fxllb, Fx21 of the front wheel of the model vehicle is generated around the center of gravity of the model vehicle (this is shown in Fig. 13 above).
- Model car equipped with four wheels W1 to W4 on the front wheel W1 When Fxllb drive 'braking force is generated on front wheel W1 and Fx21 drive' braking force is generated on front wheel W2 This means the moment generated around.
- the fifth term is the driving of the rear wheels of the model vehicle 'the braking force compensation amount Fx31, Fx41b is generated around the center of gravity of the model vehicle (this is the four wheels W1 as shown in Fig. 13).
- the coefficients b5 and b6 in the fourth and fifth terms are coefficients determined in accordance with at least the tread of the front wheel and the tread of the rear wheel, respectively. The coefficient may be corrected according to the steering angle of the front wheel or the rear wheel of the model vehicle.
- the front wheel rudder angle compensation amount ⁇ fj and the rear wheel rudder angle compensation amount ⁇ rj are expressed by, for example, the following equations 61a and 61b: This should be determined using.
- the expression 61a is an expression corresponding to the expression 15
- the expression 61b is an expression corresponding to the expressions 17, 18a, and 18b.
- ⁇ f_lbtmp and ⁇ r jbtmp mean the provisional value of the compensation amount of the steering angle of the front wheels and the provisional value of the compensation amount of the steering angle of the rear wheels, respectively.
- JSerr, ⁇ err, ⁇ over, ⁇ over are These are the same as those described in the first embodiment.
- the slip angle j8f_act and the actual rear wheel side slip angle j8r_act were used. However, instead of these, the slip angle j8 act across the center of gravity of the actual vehicle may be used.
- the front wheel side slip angle j8f_d and the rear wheel side slip angle j8r_d can be used instead of j8f_act and j8r_act, respectively.
- the weighted average values of j8 f_act and ⁇ r_act of actual vehicle 1 and 13 f_d and j8r_d of the model vehicle can be used instead of j8f_act and j8 r_act respectively, or 13 act and model vehicle of actual vehicle 1 can be used.
- ⁇ r_act the weighted average value of 13 d may be used.
- the weight may have a frequency characteristic (for example, a frequency characteristic that functions as a phase compensation element).
- the input values and output values (detected values, estimated values, target values, etc.) of the respective processing units in the first to fifth embodiments are appropriately selected from filters (low-pass filters, high-nos filters, position complementary compensation). Element etc.).
- filters low-pass filters, high-nos filters, position complementary compensation. Element etc.
- the processing is converted or the processing order is changed so as to be equivalent to the first to fifth embodiments or to be approximately equivalent. You can change it.
- each limiter may be a limiter as represented by an S-shaped graph, for example, even if the relationship between the input and output is not represented by a line graph.
- the model may be configured with air resistance, road slope angle, and the like taken into account.
- each gain used in each of the above embodiments is sequentially changed according to the actual traveling speed Vact, the estimated friction coefficient ⁇ estm, and the like.
- the vehicle on the reference dynamic characteristic model 16 is operated in accordance with the state quantity deviations ⁇ err and ⁇ err (first state quantity deviation).
- the state quantity deviations y e rr and j8 err may not be fed back to the reference dynamic characteristic model 16.
- the reference state quantities are sequentially determined by always setting Mvir and Fvir in the above equation (1) to 0 or by omitting the terms related to Mvir and Fvir in the equation (1). You may ask for it.
- the actuator device performs feedback control in accordance with state quantity deviations such as ⁇ err and ⁇ err (first state quantity deviation in the present invention). Only the steering device 3B may be used.
- the conditions (1), (2), (3), or the conditions (1), (2), (3) ' are satisfied according to their priorities.
- the target n-th wheel drive / braking force Fxcmdji and the target n-th wheel slip ratio Scmdji are determined.
- Fxcmdji and Scmd_n may be determined so as to satisfy only condition (3) or (3)!
- Fxcmdji and Scmd_n should be determined so that only one of the conditions (1) and (2) and the condition (3) or (3) 'is satisfied according to their priorities. A little.
- the four-wheel vehicle 1 has been described as an example.
- the present invention can also be applied to a vehicle such as a motorcycle.
- the present invention can control the motion of automobiles and motorcycles, in particular, rotational motion in one direction and translational motion in the lateral direction to a desired motion with high robustness. Useful as a thing.
- FIG. 1 is a block diagram showing a schematic configuration of a vehicle in an embodiment of the present invention.
- FIG. 2 is a functional block diagram showing an outline of the overall control processing function of the control device provided in the vehicle in the first embodiment of the present invention.
- FIG. 3 is a diagram showing a vehicle structure on a reference dynamic characteristic model (vehicle model) in the first embodiment.
- FIG. 4 is a functional block diagram showing details of processing functions of the normative manipulated variable determiner in the first embodiment.
- FIG. 5 is a graph for explaining processing of an excessive centrifugal force prevention limiter provided in the reference manipulated variable determining unit in the first embodiment.
- FIG. 6 is a graph for explaining another example of processing of the excessive centrifugal force prevention limiter in the first embodiment.
- FIG. 7 is a graph for explaining another example of the processing of the limiter for preventing excessive centrifugal force in the first embodiment.
- FIG. 8 is a functional block diagram showing another example of the process for determining the second restricted front wheel steering angle ⁇ f_ltd2 by the reference manipulated variable determining unit in the first embodiment.
- FIG. 9 is a functional block diagram showing processing functions of the FB distribution rule in the first embodiment.
- FIG. 10 is a functional block diagram showing another example of processing of the virtual external force determination unit in the first embodiment.
- FIG. 11 is a graph for explaining another example of processing of the ⁇ ⁇ limiter in the first embodiment.
- ⁇ 12] Actuator operation in the first embodiment ⁇ Lock diagram showing processing of the FB target value determination unit.
- Actuator operation in the first embodiment A diagram for explaining variables used in the processing of the FB target value determination unit.
- FIGS. 14 (a) and 14 (b) are graphs showing examples of setting of the distribution gain used in the processing of the actuator operation FB target value determination unit in the first embodiment.
- FIGS. 15A to 15E are diagrams illustrating maps used in another example of processing by the actuator operation FB target value determination unit in the first embodiment.
- FIGS. 16 (a) to 16 (e) are diagrams illustrating maps used in another example of the processing of the actuator operation FB target value determination unit in the first embodiment.
- ⁇ 21 A functional block diagram showing the processing of the virtual external force determination unit of the FB distribution rule in the second embodiment.
- ⁇ 23 A functional block diagram showing processing of the action target value synthesis unit in the third embodiment.
- FIG. 26 is a diagram for explaining an example of the process of S304 in FIG. 25.
- FIG. 27 is a flowchart showing processing of an optimum target n-th wheel drive'braking force determination unit provided in the actuator operation target synthesis unit in the fifth embodiment.
- ⁇ 28] A functional lock diagram showing the processing of the reference dynamic characteristic model in the variation 1 of the embodiment of the present invention.
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
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EP06835095A EP1958839B1 (en) | 2005-12-27 | 2006-12-21 | Vehicle control device |
JP2007533811A JP4226059B2 (ja) | 2005-12-27 | 2006-12-21 | 車両の制御装置 |
DE602006012727T DE602006012727D1 (de) | 2005-12-27 | 2006-12-21 | Fahrzeugsteuervorrichtung |
CA2633315A CA2633315C (en) | 2005-12-27 | 2006-12-21 | Vehicle control device |
KR1020107014885A KR101051053B1 (ko) | 2005-12-27 | 2006-12-21 | 차량 제어 장치 |
CN2006800482489A CN101341057B (zh) | 2005-12-27 | 2006-12-21 | 车辆控制装置 |
US12/097,130 US8027775B2 (en) | 2005-12-27 | 2006-12-21 | Vehicle control device |
Applications Claiming Priority (2)
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JP2005376541 | 2005-12-27 | ||
JP2005-376541 | 2005-12-27 |
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US (1) | US8027775B2 (ja) |
EP (2) | EP2135787B1 (ja) |
JP (2) | JP4226059B2 (ja) |
KR (2) | KR101008321B1 (ja) |
CN (1) | CN101341057B (ja) |
CA (1) | CA2633315C (ja) |
DE (1) | DE602006012727D1 (ja) |
WO (1) | WO2007074715A1 (ja) |
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JP2008290720A (ja) | 2008-12-04 |
CA2633315C (en) | 2011-09-13 |
CN101341057A (zh) | 2009-01-07 |
JPWO2007074715A1 (ja) | 2009-06-04 |
EP1958839A1 (en) | 2008-08-20 |
US20090171526A1 (en) | 2009-07-02 |
JP4226059B2 (ja) | 2009-02-18 |
KR101008321B1 (ko) | 2011-01-13 |
KR20100093586A (ko) | 2010-08-25 |
CA2633315A1 (en) | 2007-07-05 |
EP2135787B1 (en) | 2011-08-31 |
KR20080066080A (ko) | 2008-07-15 |
JP4672761B2 (ja) | 2011-04-20 |
EP2135787A1 (en) | 2009-12-23 |
EP1958839A4 (en) | 2008-11-19 |
EP1958839B1 (en) | 2010-03-03 |
KR101051053B1 (ko) | 2011-07-22 |
DE602006012727D1 (de) | 2010-04-15 |
CN101341057B (zh) | 2011-07-13 |
US8027775B2 (en) | 2011-09-27 |
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