WO2010073400A1 - 車両の走行支援装置 - Google Patents
車両の走行支援装置 Download PDFInfo
- Publication number
- WO2010073400A1 WO2010073400A1 PCT/JP2008/073829 JP2008073829W WO2010073400A1 WO 2010073400 A1 WO2010073400 A1 WO 2010073400A1 JP 2008073829 W JP2008073829 W JP 2008073829W WO 2010073400 A1 WO2010073400 A1 WO 2010073400A1
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- WIPO (PCT)
- Prior art keywords
- steering
- target
- torque
- vehicle
- angle
- Prior art date
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Classifications
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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
- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0472—Controlling the motor for damping vibrations
Definitions
- the present invention can be applied to, for example, EPS (electronic controlled power steering device), VGRS (variable gear ratio steering device), ARS (active rear steering device) or SBW (Steer By.
- EPS electronic controlled power steering device
- VGRS variable gear ratio steering device
- ARS active rear steering device
- SBW Steer By.
- the present invention relates to a technical field of a travel support device such as LKA (Lean Keep Assist) in a vehicle having various steering mechanisms such as Wire (electronically controlled steering angle variable device).
- Patent Document 1 As this type of device, one that uses an electric power steering device and a turning angle variable device to perform lane keeping traveling has been proposed (for example, see Patent Document 1).
- a vehicle steering control device disclosed in Patent Document 1 hereinafter referred to as “conventional technology”
- an electric power steering device is provided so that a target rudder angle based on a radius of curvature can be obtained during lane keeping traveling.
- the turning angle varying device By controlling the lateral position of the vehicle and the deviation of the yaw angle with respect to the travel path using the turning angle varying device, it is possible to make the vehicle travel well along the target travel route.
- the reaction force from the steering system including the steering wheel acts on the steering wheel.
- the steering wheel may be reversely steered.
- the steering wheel is operated regardless of the driver's intention, and therefore a high probability. The driver can feel uncomfortable. That is, it is generally difficult to realize the tracking of the target path with a single steering mechanism.
- each mechanism simply bears a part of control related to lane keeping.
- the above-mentioned feeling of incongruity cannot be avoided, and the lateral position and yaw angle are
- the influence of the reaction force on the steering wheel can affect the behavior of the vehicle.
- the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a vehicle travel support device that can cause a vehicle to follow a target travel path without causing instability of the vehicle behavior.
- a vehicle travel support apparatus includes a steering torque assisting means capable of assisting a steering torque applied to a steering input shaft via a steering wheel, and a rotation angle of the steering input shaft.
- a travel support device for a vehicle comprising a steering angle variable means capable of changing a relationship between a steering angle and a steering angle that is a rotation angle of a steering wheel, for causing the vehicle to follow a target travel path.
- a first setting means for setting a first control target value corresponding to one of the steering torque assisting means and the steering angle variable means; and a first control means for controlling the one based on the set first control target value.
- a second setting means for setting a second control target value corresponding to the other so as to suppress a change in behavior of the vehicle that occurs when the vehicle follows the target travel path by the one control.
- Characterized by comprising a second control means for controlling the other based on the second target control value in which the set.
- the vehicle according to the present invention includes at least steering torque assisting means and steering angle variable means.
- the steering torque assisting means is an artificial steering given from a driver to a steering input shaft that is directly or indirectly coupled to a steering wheel (generally also referred to as a “handle”). It is a concept that includes means that can assist the driver steering torque corresponding to the input.
- the assisting mode of the driver steering torque in the steering torque assisting means is not limited to direct or indirect, and is substantially limited based on at least the installation space, cost, durability or reliability (such as (If there are other restrictions)
- the steering torque assisting means may adopt a configuration in which an assist torque that directly assists the steering torque is applied to the steering input shaft, or a steering output shaft that is directly or indirectly connected to the steering input shaft.
- This type of auxiliary torque may be applied, or when the steering system employs a rack and pinion type steering transmission mechanism, auxiliary torque is applied to assist rotation of the pinion gear meshing with the rack bar. It may have a possible configuration, or may be configured to be able to apply a driving force that assists the rack bar to reciprocate.
- the steering torque assisting means the steering torque is finally applied to the steering input shaft via a physical or mechanical transmission path including various transmission mechanisms and various shaft bodies. It is possible to reduce the driver's steering burden, hold the steering wheel in place of the driver, or rotate the steering input shaft independently of the driver's steering operation.
- the steering angle varying means is a physical and mechanical device that can vary the relationship between the steering angle, which is the rotation angle of the steering input shaft, and the steering angle, which is the rotation angle of the steering wheel, stepwise or continuously. It is a concept encompassing various electric or magnetic devices. That is, according to the rudder angle varying means, the relationship between the steering angle and the rudder angle is not uniquely defined, and for example, the ratio between the steering angle and the rudder angle can be changed. Alternatively, the steering angle can be changed regardless of the steering angle.
- the rudder angle varying means may be configured as VGRS or SBW, for example, as a suitable form.
- various processing units such as an ECU (Electronic Control Unit), various controllers or various computer systems such as a microcomputer device may be employed.
- a first control target value is set by one setting means.
- the first control target value is a control target value corresponding to one of the steering torque assisting means and the steering angle variable means, and is a control target value for causing the vehicle to follow the target travel path.
- Various known algorithms can be applied. For example, based on the image of the target travel path imaged by an in-vehicle camera or the like, the curvature of the target travel path, the white line that defines the target travel path, etc., the position deviation and the yaw deviation of the vehicle are calculated or estimated, and Based on the calculated or estimated target lateral acceleration after the target lateral acceleration for causing the vehicle to follow the target travel path is calculated or estimated, for example, the auxiliary torque to be output from the steering torque auxiliary means
- the first control target value may be set as a target assist torque as a target value of the target, or a target rudder angle as a target value of a rudder angle change amount to be realized by the rudder angle varying means.
- the first control target value can be set by the first control means that can take the form of various processing units such as an ECU, various controllers or various computer systems such as a microcomputer device. Based on this, one corresponding to the set first control target value is controlled. That is, according to the vehicle travel support apparatus of the present invention, one of the steering torque assisting means and the steering angle varying means is a main system for causing the vehicle to follow the target travel path (hereinafter referred to as “main system as appropriate”). ").
- the other corresponding to the one is controlled in cooperation with the one as a suppression means for suppressing this kind of vehicle behavior instability. That is, according to the vehicle driving support apparatus of the present invention, during the operation, the second setting means that can take the form of various processing units such as an ECU, various controllers or various computer systems such as a microcomputer device, and the like.
- the second control target value corresponding to the other is set so that the change in the behavior of the vehicle that occurs when the vehicle follows the target travel path is suppressed by the above control. Further, when the second control target value is set, the set second control target is set by the second control means that can take the form of various processing units such as an ECU, various controllers or various computer systems such as a microcomputer device. The other is controlled based on the value.
- any of the steering torque assisting means and the steering angle variable means may be used as the main system when tracking the target travel path.
- the change in the behavior of the vehicle is mitigated by the other control that acts as a suppression means and ideally cancels out. That is, the behavior of the vehicle can be stabilized when the vehicle follows the target travel path.
- the vehicle travel support device is known in that the steering torque assisting means and the steering angle varying means are operated in cooperation with each other in order to stabilize this kind of vehicle behavior.
- This is a significant advantage for any technical idea.
- the primary effect for example, the occurrence of the steering operation unrelated to the driver's intention described above
- directly caused by the operation of one means due to the fact that the influence on the vehicle is not assumed.
- the steering angle varying means changes the relationship by rotating a steering output shaft connected to the steering wheel relative to the steering input shaft
- the first setting means sets a target auxiliary torque as the first control target value
- the first control means controls the steering torque auxiliary means based on the set target auxiliary torque
- the second The setting means sets, as the second control target value, a steering transmission ratio that defines a rotation angle of the steering output shaft with respect to the steering angle so as to decrease as compared with a non-following time with respect to the target travel path
- the control means controls the steering angle varying means based on the set steering transmission ratio.
- the rudder angle varying means rotates the steering output shaft relative to the steering input shaft by a driving force such as a motor torque supplied from a driving means such as a motor, whereby the steering angle and the steering angle are changed.
- a driving force such as a motor torque supplied from a driving means such as a motor
- VGRS a form such as VGRS that can change the relationship
- the steering transmission ratio that defines the rotation angle of the steering output shaft with respect to the steering angle that is, the magnitude of the steering transmission ratio corresponds to the magnitude of the steering angle with respect to one steering angle, respectively.
- control is possible within a relatively free range.
- the second setting unit determines that the steering transmission ratio is at least a part of the second control target value. It is set on the decrease side compared to when the road is not following.
- the degree of change in the rotation angle of the steering output shaft with respect to the steering angle is smaller than that in the non-following state.
- Steering input regardless of the driver's intention due to force majeure, etc. even if steering input is given to the steering wheel with a proper reason (for example, emergency avoidance or emergency operation) during the following period Even if it is made, the influence on the rudder angle is relatively mitigated. That is, it becomes possible to make the vehicle behavior relatively stable.
- the rudder angle varying means changes the relationship by rotating a steering output shaft connected to the steering wheel relative to the steering input shaft
- the first setting means sets a target auxiliary torque as the first control target value
- the first control means controls the steering torque auxiliary means based on the set target auxiliary torque
- the second The setting means sets, as the second control target value, a target relative rotation angle of the steering output shaft with respect to the steering input shaft so that the steering angle required for causing the vehicle to follow the target travel path decreases.
- the second control unit controls the rudder angle varying unit based on the set target relative rotation angle.
- the rudder angle varying means rotates the steering output shaft relative to the steering input shaft by a driving force such as a motor torque supplied from a driving means such as a motor, whereby the steering angle and the steering angle are changed.
- a driving force such as a motor torque supplied from a driving means such as a motor
- VGRS a form such as VGRS that can change the relationship
- the steering transmission ratio that defines the rotation angle of the steering output shaft with respect to the steering angle that is, the magnitude of the steering transmission ratio corresponds to the magnitude of the steering angle with respect to one steering angle, respectively.
- control is possible within a relatively free range.
- the second setting means sets the target relative rotation angle of the steering output shaft so as to reduce the steering angle required to cause the vehicle to follow the target travel path as the second control target value.
- the steering angle variable means is controlled by the second control means based on the set target relative rotation angle.
- the steering output shaft rotates relative to the steering input shaft by an amount corresponding to the target relative rotation angle.
- the steering output shaft only rotates relative to the steering input shaft, and no power is transmitted to the steering input shaft when the steering output shaft is rotationally driven by the second control means. Therefore, according to this aspect, the change in the steering angle during the period in which the follow-up to the target travel path is achieved by applying the assist torque or the like by the steering torque assisting means is suppressed. That is, when viewed from the driver side, the uncomfortable feeling that the steering wheel is operated despite no steering operation is preferably alleviated. This kind of uncomfortable feeling alleviates the driver's psychological burden, and thus suppresses unnecessary steering operations by the driver. That is, as a result, the behavior of the vehicle can be stabilized.
- the second setting means performs the above-described setting of the steering transmission ratio (setting on the decrease side with respect to non-following) as the second control target value in addition to this type of target relative rotation angle. Since the setting of the target relative rotation angle can reduce the steering angle and reduce the influence of the driver's steering input on the steering angle change, it is extremely useful in practice.
- the second setting means sets the target relative rotation angle according to the travel condition of the vehicle.
- the relative rotation angle required for the steering output shaft may also be different.
- the target relative rotation angle is set according to the running condition of the vehicle, it is possible to eliminate the concern that the relative rotation of the steering output shaft may destabilize the behavior of the vehicle. Become.
- the practical aspect of selecting this type of driving condition and setting the target relative rotation angle accordingly is, for example, experimentally, empirically, theoretically, or based on simulation etc.
- the vehicle behavior may be appropriately determined so that the vehicle behavior can be stabilized somewhat compared to a case where no consideration of this kind is made.
- the second setting means may set the target relative rotation angle so that the amount of decrease in the steering angle decreases as the curvature of the target travel path increases.
- the larger the curvature of the target road that is, the reciprocal of the virtual radius of the target road, the larger the target road is curved
- the larger the steering wheel It is natural that the operation amount increases. For example, if the vehicle turns even though the steering angle is zero, it is difficult to avoid a sense of incongruity.
- the target relative rotation angle in accordance with the curvature of the target travel path, it is possible to follow the target travel path with higher accuracy without making the driver feel uncomfortable.
- the second setting means may set the target relative rotation angle so that the amount of decrease in the steering angle decreases as the speed of the vehicle increases.
- the vehicle speed (hereinafter referred to as “vehicle speed” as appropriate) is high, the lateral acceleration per unit steering angle increases. Accordingly, if the amount of decrease in the steering angle is fixed with respect to the vehicle speed, the vehicle may deviate from the target travel path in a high vehicle speed region, for example, and the actual steering direction may be opposite to the required steering direction. Alternatively, if such a problem in the high vehicle speed region is avoided, the follow-up speed to the target travel path may decrease in the low vehicle speed region. That is, in any case, stabilization of vehicle behavior is hindered. Therefore, by setting the target relative rotation angle according to the vehicle speed in this way, it becomes possible to accurately follow the target travel path while suppressing instability of the vehicle behavior.
- the first setting means sets a target steering angle as the first control target value
- the first control means sets the set target steering angle
- the second setting means uses the reaction force applied to the steering wheel with the control of the steering angle varying means based on the target steering angle as the second control target value.
- the target auxiliary torque is set so that the torque is canceled out, and the second control means controls the steering torque auxiliary means based on the set target auxiliary torque.
- the target rudder angle for causing the vehicle to follow the target travel path is set as the first control target value, and the rudder angle varying means is controlled based on the set target rudder angle. That is, contrary to the various aspects described above, the rudder angle varying means functions as a main system and can follow the target travel path.
- the steering input shaft that can be connected to the steered wheel either directly or indirectly (note that the steered wheel as the control target of the rudder angle varying means is the rear wheel.
- the steering input shaft is preferably not connected to the steering wheel, but preferably the front wheel as a steered wheel that can carry normal steering of the vehicle can be connected to the steering input shaft). Will be added. If this reaction force torque is not borne on the steering input shaft side, the steering wheel is driven to rotate in the opposite direction by this reaction force torque, with a steering system having a clearly larger inertia weight and friction compared to the steering wheel as a fulcrum. .
- the steering torque assisting means that acts to suppress fluctuations in the vehicle behavior is used as the second control target value that is set by the second setting means to cancel the reaction torque applied to the steering wheel.
- the reaction force torque applied to the steering wheel is considerably reduced as compared with the case where the drive control is performed based on the target auxiliary torque and the compensation control of at least this kind of reaction force torque is not performed. Or ideally, this kind of reaction torque is completely cancelled. Therefore, at least the driver feels uncomfortable when the steering wheel is held, and ideally the driver can follow the target road even in a so-called hand-off state where the driver does not hold the steering wheel at all. It becomes.
- the target assist torque only reduces the reaction torque generated when following the target travel path, and has no effect on the steering torque generated by the driver's own operation of the steering wheel. It doesn't reach. Therefore, the steering feel is not lowered.
- the steering wheel is a front wheel connected to the steering input shaft via a steering output shaft.
- the second setting means is caused by a first partial reaction torque resulting from the movement of the steering output shaft, a second partial reaction torque resulting from the movement of the steering torque assisting means, and an axial force from the steering wheel.
- the target auxiliary torque is set so that at least a part of the third partial reaction force torque cancels out.
- the steered wheels that are to be controlled by the rudder angle varying means are connected to the steering input shaft via the steering output shaft.
- the above-mentioned reaction force torque includes the first partial reaction force torque caused by the movement of the steering output shaft, the second partial reaction force torque caused by the movement of the steering torque assisting means, and the front wheel contacting the road surface. It can be defined by the third partial reaction torque resulting from the axial force generated by
- the second setting means sets the target auxiliary torque corresponding to the first partial reaction force torque to (1) the same sign as the angular acceleration of the steering wheel and the steering output shaft.
- a first inertia correction term that corrects the influence of inertia (2) a first viscosity correction term that has the same sign as the angular velocity of the steering output wheel and corrects the influence of the viscosity of the steering output shaft; and (3) It may be set so as to include a first friction correction term that has the same sign as the angular velocity of the steering wheel and corrects the influence of friction of the steering output shaft.
- the first partial reaction torque can be defined mainly based on the inertia, viscosity, and friction of the steering output shaft. Therefore, it is possible to accurately determine the target auxiliary torque that can cancel the first partial reaction torque based on these.
- the second setting means has a target auxiliary torque corresponding to the second partial reaction force torque (1) having the same sign as the angular acceleration of the steering wheel and the steering torque auxiliary means.
- a second viscosity correction term that has the same sign as the angular velocity of the steering wheel and corrects the viscosity effect of the steering torque assisting means, and
- It may be set so as to include a second friction correction term that has the same sign as the angular velocity of the steering wheel and corrects the influence of the friction of the steering torque assisting means.
- the second partial reaction torque can be defined mainly based on the inertia, viscosity, and friction of the steering torque assisting means. Accordingly, it is possible to accurately determine the target auxiliary torque that can cancel the second partial reaction torque based on these.
- the second setting means sets the target auxiliary torque corresponding to the third partial reaction force torque so as to have the same sign as the steering angle in consideration of a response delay of the axial force. May be.
- the steering wheel is a rear wheel that is not connected to the steering input shaft, and the second setting means
- the target auxiliary torque having a sign different from the rudder angle may be set so that a reaction force torque caused by the axial force from the steered wheels is canceled in consideration of a response delay of the axial force.
- the steered wheel to be controlled by the rudder angle variable means is a rear wheel that is not mechanically connected to the steering input shaft (of course, the rudder angle of the front wheel is preferably at least a normal steering operation by the driver. In this case, it is irrelevant to the vehicle's follow-up to the target travel path, but if the object to be controlled by the rudder angle varying means includes both front and rear wheels, of course, the axial force of the front wheels described above Target assist torque that can be set according to the driving conditions of the vehicle, the vehicle structure, etc., and the target assist torque that can counteract the reaction torque acting on the steering wheel. The torque can be determined accurately.
- the reaction torque that should be offset by the application of the assist torque from the steering torque assisting means when used as the main system for following the target travel path, the reaction torque that should be offset by the application of the assist torque from the steering torque assisting means.
- the components resulting from the movement of the steering output shaft and the steering torque assisting means described above are not included. Therefore, the target auxiliary torque can be set relatively easily.
- the acting direction of the axial force with respect to the direction indicated by the steering angle is opposite between the front wheels and the rear wheels. Therefore, in this aspect, the target torque is applied so that the auxiliary torque having a sign different from the steering angle is applied (that is, the auxiliary torque acts in the left (right) rotation direction in the case of right (left) steering).
- Auxiliary torque is set.
- FIG. 1 is a schematic configuration diagram conceptually illustrating a configuration of a vehicle according to a first embodiment of the present invention.
- 2 is a flowchart of LKA control according to the first embodiment, which is performed in the vehicle of FIG. 1.
- FIG. 6 is a schematic diagram illustrating a relationship between a target lateral acceleration GYTG and an LKA basic target angle ⁇ LKB according to the first embodiment.
- FIG. 6 is a schematic diagram illustrating a relationship between a curvature R and an adjustment gain K2 according to the first embodiment.
- It is a flowchart of EPS control concerning a 1st embodiment.
- FIG. 4 is a schematic diagram illustrating a relationship between an EPS basic target torque TBASE and a driver steering torque MT according to the first embodiment.
- FIG. 6 is a schematic diagram illustrating a relationship between a steering transmission ratio K1 and a vehicle speed V according to the first embodiment. It is a flowchart of the LKA control which concerns on 2nd Embodiment of this invention.
- FIG. 10 is a schematic diagram illustrating a relationship between an LKA front wheel target rudder angle ⁇ LKA_FR and a target lateral acceleration GYTG according to the second embodiment. It is a flowchart of VGRS control concerning a 2nd embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between an inertia correction torque T1 and an angular acceleration of a steered wheel according to the second embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between a viscosity correction torque T2 and an angular velocity of a steered wheel according to the second embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between a friction correction torque T3 and an angular acceleration of a steered wheel according to the second embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between an axial force correction torque T4 and an LKA front wheel target rudder angle correction value ⁇ fLKA_FR according to the second embodiment.
- It is a schematic block diagram which represents notionally the basic structure of the vehicle 30 which concerns on 3rd Embodiment of this invention. It is a flowchart of LKA control concerning a 3rd embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between a viscosity correction torque T2 and an angular velocity of a steered wheel according to the second embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between a friction correction torque
- FIG. 10 is a schematic diagram illustrating a relationship between an LKA rear wheel target rudder angle ⁇ LKA_RR and a target lateral acceleration GYTG according to the third embodiment.
- FIG. 10 is a schematic diagram illustrating a relationship between an axial force correction torque T5 and an LKA rear wheel target rudder angle correction value ⁇ fLKA_RR according to the third embodiment.
- FIG. 1 is a schematic configuration diagram conceptually showing the basic configuration of the vehicle 10.
- a vehicle 10 includes a pair of left and right front wheels FL and FR as steering wheels, and is configured to be able to travel in a desired direction by turning these front wheels.
- the vehicle 10 includes an ECU 100, a VGRS actuator 200, a VGRS driving device 300, an EPS actuator 400, and an EPS driving device 500.
- the ECU 100 is an electronic control unit that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory) (not shown), and is configured to be able to control the entire operation of the vehicle 10. 1 is an example of a “vehicle driving support device”.
- the ECU 100 is configured to execute LKA control, EPS control, and VGRS control, which will be described later, according to a control program stored in the ROM.
- the ECU 100 is an integrated electronic device configured to function as an example of each of the “first setting means”, “first control means”, “second setting means”, and “second control means” according to the present invention. It is a control unit, and the operation
- the physical, mechanical, and electrical configurations of each of the units according to the present invention are not limited to this.
- each of these units includes a plurality of ECUs, various processing units, various controllers, a microcomputer device, and the like. It may be configured as various computer systems.
- a steering input given by a driver via a steering wheel 11 is coupled to the steering wheel 11 so as to be coaxially rotatable, and is transmitted to an upper steering shaft 12 that is a shaft body that can rotate in the same direction as the steering wheel 11.
- the upper steering shaft 12 is an example of the “steering input shaft” according to the present invention.
- the upper steering shaft 12 is connected to the VGRS actuator 200 at its downstream end.
- the VGRS actuator 200 is an example of the “steering angle varying means” according to the present invention, which includes a housing 201, a VGRS motor 202, and a speed reduction mechanism 203.
- the housing 201 is a housing of the VGRS actuator 200 that houses the VGRS motor 202 and the speed reduction mechanism 203.
- the downstream end of the above-described upper steering shaft 12 is fixed to the housing 201, and the housing 201 can rotate integrally with the upper steering shaft 12.
- the VGRS motor 202 is a DC brushless motor having a rotor 202a serving as a rotor, a stator 202b serving as a stator, and a rotating shaft 202c serving as an output shaft for driving force.
- the stator 202b is fixed inside the housing 201, and the rotor 202a is rotatably held inside the housing 201.
- the rotating shaft 202c is fixed so as to be coaxially rotatable with the rotor 202a, and its downstream end is connected to the speed reduction mechanism 203.
- the speed reduction mechanism 203 is a planetary gear mechanism having a plurality of rotating elements (sun gear, carrier and ring gear) capable of differential rotation.
- the sun gear that is the first rotating element is connected to the rotating shaft 202 c of the VGRS motor 202, and the carrier that is the second rotating element is connected to the housing 201.
- the ring gear as the third rotating element is coupled to the lower steering shaft 13 as an example of the “steering output shaft” according to the present invention.
- the rotation speed of the upper steering shaft 12 (that is, the rotation speed of the housing 201 connected to the carrier) corresponding to the operation amount of the steering wheel 11 and the rotation of the VGRS motor 202.
- the rotation speed of the lower steering shaft 13 connected to the ring gear which is the remaining one rotation element, is uniquely determined by the speed (that is, the rotation speed of the rotary shaft 202c connected to the sun gear).
- the rotational speed of the lower steering shaft 13 can be controlled to increase / decrease by controlling the rotational speed of the VGRS motor 202 to increase / decrease by the differential action between the rotating elements.
- the upper steering shaft 12 and the lower steering shaft 13 can be rotated relative to each other by the action of the VGRS motor 202 and the speed reduction mechanism 203. Further, due to the configuration of each rotary element in the speed reduction mechanism 203, the rotation speed of the VGRS motor 202 is transmitted to the lower steering shaft 13 in a state where the speed is reduced according to a predetermined reduction ratio determined according to the gear ratio between the respective rotary elements.
- the upper steering shaft 12 and the lower steering shaft 13 can be rotated relative to each other, so that the steering angle MA that is the amount of rotation of the upper steering shaft 12 and the amount of rotation of the lower steering shaft 13 are determined.
- the steering transmission ratio which is uniquely determined (which also relates to the gear ratio of the rack and pinion mechanism described later) and the steering angle ⁇ st of the front wheel as the steering wheel, is continuously variable within a predetermined range.
- the speed reduction mechanism 204 is not limited to the planetary gear mechanism illustrated here, but is connected to other modes (for example, gears having different numbers of teeth are connected to the upper steering shaft 12 and the lower steering shaft 13, respectively, and partially contact each gear.
- the planetary gear mechanism may have a physical, mechanical, or mechanical aspect different from the above.
- the VGRS drive device 300 is an electric drive circuit including a PWM circuit, a transistor circuit, an inverter, and the like that are configured to be energized with respect to the stator 202b of the VGRS motor 202.
- the VGRS driving device 300 is electrically connected to a battery (not shown), and is configured to be able to supply a driving voltage to the VGRS motor 202 with electric power supplied from the battery. Further, the VGRS driving device 300 is electrically connected to the ECU 100, and its operation is controlled by the ECU 100.
- the VGRS driving device 300, together with the VGRS actuator 200, constitutes an example of “steering angle varying means” according to the present invention.
- the rack and pinion mechanism is a steering force transmission mechanism including a pinion gear 14 connected to a downstream end portion of the lower steering shaft 13 and a rack bar 15 formed with gear teeth that mesh with gear teeth of the pinion gear.
- the rotation of the pinion gear 14 is converted into the horizontal movement of the rack bar 15 in the drawing, so that the steering force is applied to each steered wheel via a tie rod and a knuckle (not shown) connected to both ends of the rack bar 15. It is configured to be transmitted. That is, in the vehicle 10, a so-called rack and pinion type steering system is realized.
- the EPS actuator 400 includes an EPS motor as a DC brushless motor including a rotor (not shown) that is a rotor with a permanent magnet and a stator that is a stator that surrounds the rotor. It is an example of “torque assisting means”.
- This EPS motor is configured to be capable of generating an assist torque TA in the rotation direction when the rotor is rotated by the action of a rotating magnetic field formed in the EPS motor by energizing the stator via the EPS driving device 500. ing.
- a reduction gear (not shown) is fixed to the motor shaft that is the rotation shaft of the EPS motor, and this reduction gear is also meshed with the pinion gear 14.
- the assist torque TA generated from the EPS motor functions as an assist torque that assists the rotation of the pinion gear 14.
- the pinion gear 14 is connected to the lower steering shaft 13 as described above, and the lower steering shaft 13 is connected to the upper steering shaft 12 via the VGRS actuator 200. Accordingly, the driver steering torque MT applied to the upper steering shaft 12 is transmitted to the rack bar 15 in an appropriately assisted manner by the assist torque TA, so that the driver's steering burden is reduced.
- the EPS drive device 500 is an electric drive circuit including a PWM circuit, a transistor circuit, an inverter, and the like that are configured to be energized to the stator of the EPS motor.
- the EPS driving device 500 is electrically connected to a battery (not shown), and is configured to be able to supply a driving voltage to the EPS motor with electric power supplied from the battery. Further, the EPS driving device 500 is electrically connected to the ECU 100, and its operation is controlled by the ECU 100.
- the EPS driving device 500, together with the EPS actuator 400, constitutes an example of “steering torque assisting means” according to the present invention.
- the assist torque TA output from the EPS motor is used to reduce the rotational speed by a reduction gear (not shown). Along with this, it may be transmitted directly to the lower steering shaft 13 or may be applied as a force assisting the reciprocating motion of the rack bar 16a. That is, as long as the assist torque TA output from the EPS motor 400 can be finally used as at least a part of the steering force for steering each steered wheel, there is no specific configuration of the steering torque assisting means according to the present invention.
- the purpose is not limited.
- the vehicle 10 is provided with various sensors including a steering torque sensor 16, a steering angle sensor 17, and a rotation sensor 18.
- the steering torque sensor 16 is a sensor configured to be able to detect the driver steering torque MT given from the driver via the steering wheel 11. More specifically, the upper steering shaft 12 is divided into an upstream portion and a downstream portion, and has a configuration in which they are connected to each other by a torsion bar (not shown). Rings for detecting a rotational phase difference are fixed to both upstream and downstream ends of the torsion bar. This torsion bar is twisted in the rotational direction in accordance with the steering torque (ie, driver steering torque MT) transmitted through the upstream portion of the upper steering shaft 12 when the driver of the vehicle 10 operates the steering wheel 11. The configuration is such that the steering torque can be transmitted to the downstream portion while causing such a twist.
- the steering torque sensor 16 is configured to detect the rotational phase difference and to convert the rotational phase difference into a steering torque and output it as an electrical signal corresponding to the steering torque MT. Further, the steering torque sensor 16 is electrically connected to the ECU 100, and the detected steering torque MT is referred to by the ECU 100 at a constant or indefinite period.
- the steering angle sensor 17 is an angle sensor configured to be able to detect a steering angle MA that represents the amount of rotation of the upper steering shaft 12.
- the steering angle sensor 17 is electrically connected to the ECU 100, and the detected steering angle MA is referred to by the ECU 100 at a constant or indefinite period.
- the rotation sensor 18 is a rotary encoder configured to be able to detect a rotation phase difference ⁇ between the housing 201 (that is, equivalent to the upper steering shaft 12 in terms of rotation angle) and the lower steering shaft 13 in the VGRS actuator 200. is there.
- the rotation sensor 18 is electrically connected to the ECU 100, and the detected rotation phase difference ⁇ is referred to by the ECU 100 at a constant or indefinite period.
- the vehicle speed sensor 19 is a sensor configured to be able to detect the vehicle speed V, which is the speed of the vehicle 10.
- the vehicle speed sensor 19 is electrically connected to the ECU 100, and the detected vehicle speed V is referred to by the ECU 100 at a constant or indefinite period.
- the in-vehicle camera 20 is an imaging device that is installed on the front nose of the vehicle 10 and configured to image a predetermined area in front of the vehicle 10.
- the in-vehicle camera 20 is electrically connected to the ECU 100, and the captured front area is sent to the ECU 100 as image data at a constant or indefinite period.
- the ECU 100 can analyze the image data and acquire various data necessary for LKA control described later.
- FIG. 2 is a flowchart of the LKA control.
- the LKA control is control for causing the vehicle 10 to follow the target travel path (lane), and is control for realizing a part of the travel support system that the vehicle 10 has.
- the ECU 100 reads various signals including operation signals of various switches provided in the vehicle 10, various flags, sensor signals related to the various sensors, and the like (step S ⁇ b> 101), and is installed in the vehicle 10 in advance. It is determined whether or not the LKA mode is selected as a result of the operation button for activating the LKA control being operated by the driver (step S102). When the LKA mode is not selected (step S102: NO), the ECU 100 returns the process to step S101.
- step S102 When the LKA mode is selected (step S102: YES), the ECU 100 detects a white line (not necessarily white) that defines the LKA target travel path based on the image data sent from the in-vehicle camera 20. (Step S103) If a white line is not detected (Step S103: NO), the ECU 100 returns the process to Step S101 because the target travel path cannot be defined. On the other hand, when the white line is detected (step S103: YES), the ECU 100 calculates various road surface information necessary for causing the vehicle 10 to follow the target travel path (step S104).
- a white line not necessarily white
- step S104 the curvature R of the target travel path (that is, the reciprocal of the radius), the lateral deviation Y between the white line and the vehicle 10, and the yaw angle deviation ⁇ between the white line and the vehicle 10 are calculated.
- various modes including a known image recognition algorithm can be applied to the calculation mode of the information required for the follow-up control of this type of target driving path, and since the correlation with the essential part of the invention is weak, it is touched here. Suppose there is nothing.
- the ECU 100 calculates a target lateral acceleration GYTG that is necessary for causing the vehicle 10 to follow the target travel path (step S105).
- the target lateral acceleration GYTG can also be calculated according to various known algorithms or arithmetic expressions.
- the ECU 100 holds a target lateral acceleration map that uses the curvature R, the lateral deviation Y, and the yaw angle deviation ⁇ as parameters in appropriate storage means such as a ROM in advance, and selects the appropriate lateral value by selecting appropriate values.
- the acceleration GYTG may be calculated (this type of selection is also an aspect of the calculation).
- the process branches into two systems. That is, in one process, the ECU 100 calculates the LKA target assist torque TLK (step S105), and stores the calculated LKA target assist torque TLK in an appropriate rewritable storage means such as a flash memory or RAM (step S105). S107).
- the LKA target assist torque TLK is defined in an LKA target assist torque map stored in advance in the ROM and using the target lateral acceleration GYTG and the vehicle speed V as parameters, and the ECU 100 selects a corresponding numerical value from the map.
- the LKA target assist torque TLK is calculated.
- the LKA target assist torque TLK is an example of the “first control target value” according to the present invention, and an example of the “target assist torque”.
- the ECU 100 calculates the LKA basic target angle ⁇ LKB based on the target lateral acceleration GYTG (step S108), and then calculates the adjustment gain K2 based on the curvature R (step S109). Further, the ECU 100 calculates the LKA correction target angle ⁇ LK according to the following equation (1) (step S110).
- the LKA correction target angle ⁇ LK is an example of the “second control target value” according to the present invention, and is an example of the “target relative rotation angle” according to the present invention.
- the ECU 100 stores the calculated LKA correction target angle ⁇ LK in a storage unit such as a RAM or a flash memory (step S111).
- FIG. 3 is a schematic diagram showing the relationship between the target lateral acceleration GYTG and the LKA basic target angle ⁇ LKB.
- the vertical axis represents the LKA basic target angle ⁇ LKB
- the horizontal axis represents the target lateral acceleration GYTG.
- each LKA basic target ⁇ LKB has a symmetrical characteristic with respect to the origin line.
- the LKA basic target angle ⁇ LKB is set on the decreasing side as the vehicle speed increases. This is because the higher the vehicle speed, the greater the degree of lateral acceleration generated with respect to the rudder angle, and the setting operation according to the present invention is “the decrease in the steering angle decreases as the vehicle speed increases. Is an example of an operation of “setting a target relative rotation angle to”.
- an LKA basic target angle map obtained by digitizing the relationship shown in FIG. 3 is stored in advance in the ROM of the ECU 100 (of course, the vehicle speed V as a parameter value is finer).
- a corresponding value is selected from the LKA basic target angle map.
- FIG. 4 is a schematic diagram showing the relationship between the curvature R and the adjustment gain K2.
- the vertical axis represents the adjustment gain K2
- the horizontal axis represents the curvature R of the target travel path.
- the target travel path is sharply curved (that is, a sharp curve) as it goes to the right side in the figure.
- the adjustment gain K2 is set in a region less than 1, and is set to be smaller as the curvature R is larger (that is, as the curve is sharper). This is because the steering of the steering wheel 11 is allowed as the curvature increases (there is no sense of incongruity when viewed from the driver).
- the setting operation according to the present invention is “steering as the curvature of the target travel path increases. This is an example of the operation of “setting the target relative rotation angle so that the amount of decrease in angle decreases”.
- step S109 an adjustment gain map obtained by converting the relationship shown in FIG. 4 into a numerical value is stored in advance in the ROM of the ECU 100.
- step S109 a corresponding value is selected from the adjustment gain map.
- FIG. 5 is a flowchart of EPS control. In the figure, the same reference numerals are given to the same portions as those in FIG. 2, and the description thereof is omitted as appropriate.
- the ECU 100 after reading various signals (step S101), acquires the driver steering torque MT and the vehicle speed V (step S201). Subsequently, the ECU 100 calculates an EPS basic target torque TBASE, which is a basic value of the assist torque TA to be output from the EPS motor of the EPS actuator 400, based on the acquired driver steering torque MT and the vehicle speed V (step S202). ).
- FIG. 6 is a schematic diagram showing the relationship between the EPS basic target torque TBASE and the driver steering torque MT.
- the vertical axis represents the EPS basic target torque TBASE
- the horizontal axis represents the driver steering torque MT.
- the right region corresponds to the steering operation to the right side of the vehicle.
- the EPS basic target torque TBASE in the figure has a symmetrical characteristic with respect to the origin line.
- the EPS basic target torque TBASE is set to decrease as the vehicle speed increases. This is because the higher the vehicle speed, the smaller the steering angle for obtaining the required lateral acceleration, and the greater the force required for steering the steering wheel 11 on the higher vehicle speed side (that is, the so-called steering wheel is heavy). By doing so, the driver's excessive operation is prevented and the behavior of the vehicle 10 is stabilized.
- an EPS basic target torque map in which the relationship shown in FIG. 6 is digitized in advance is stored in the ROM of the ECU 100 (of course, the vehicle speed V as a parameter value is finer).
- a corresponding value is selected from the EPS basic target torque map.
- the ECU 100 sets the EPS final target torque TTG according to the following equation (2) based on the EPS basic target torque TBASE calculated in step S202 and the LKA target assist torque TLK calculated and stored in advance. Is calculated (step S203).
- step S204 the process returns to step S101.
- the EPS actuator 400 functions as a main system for causing the vehicle 10 to follow the target travel path, and in addition to the normal assist torque corresponding to the driver's steering operation, the vehicle 10 is targeted.
- An LKA target assist torque TLK for causing the vehicle to follow the travel path is output.
- the EPS actuator 400 does not change the relationship between the steering angle of the steering wheel 11 and the steering angle of the steered wheel, and therefore, when the assist torque is applied from the EPS actuator 400, the target travel path is followed.
- the steering wheel 11 is steered regardless of the driver's intention according to the change in the steering angle. For this reason, the driver may feel uncomfortable and may induce an unnecessary steering operation on the driver side. Therefore, in this embodiment, the behavior change when the vehicle 10 follows the target travel path by the EPS actuator 400 is compensated by VGRS control.
- FIG. 7 is a flowchart of VGRS control.
- the same reference numerals are given to the same portions as those in FIG. 2, and the description thereof is omitted as appropriate.
- step S101 when various signals are read (step S101), the ECU 100 acquires the vehicle speed V and the steering angle MA (step S301) and, based on the acquired, the upper steering shaft 12 according to the following equation (3).
- the VGRS basic target angle ⁇ VG which is the basic value of the relative rotation angle of the lower steering shaft 13 with respect to the steering angle MA, which is the rotation angle, is calculated (step S302).
- K1 is a steering transmission ratio that defines the rotation angle of the lower steering shaft 13 with respect to the steering angle MA, and is a numerical value that is variable according to the vehicle speed V.
- FIG. 8 is a schematic diagram showing the relationship between the steering transmission ratio K1 and the vehicle speed V.
- the steering transmission ratio K1 is 0 (that is, the rotation ratio between the upper steering shaft 12 and the lower steering shaft 13 is 1: 1) at the vehicle speed Vth in the middle vehicle speed region, and is 0 on the vehicle speed side lower than Vth. Large and less than 0 on the high vehicle speed side. That is, the lower the vehicle speed side, the larger the steering angle can be obtained with a smaller steering angle. As described above, this is because the lateral acceleration with respect to the high vehicle speed and the steering angle increases.
- the ECU 100 further calculates the VGRS final target angle ⁇ TGF according to the equation (4) based on the calculated VGRS basic target angle ⁇ VG and the previously calculated and stored LKA correction target angle ⁇ LK. (Step S303).
- ⁇ TGF ⁇ VG + ⁇ LK (4)
- the ECU 100 controls the VGRS driving device 300 based on the calculated VGRS final target angle ⁇ TGF, and the VGRS motor 202 of the VGRS actuator 200 is set to the VGRS final target angle ⁇ TGF. Rotate by the corresponding amount (step S304).
- step S304 executes, the process returns to step S101.
- the LKA correction target angle ⁇ LK is separately added to the normal VGRS target angle, so that the vehicle 10 is made to follow the target travel path by the previous EPS control. It becomes possible to suppress the change of the steering angle MA at the time of the operation. For this reason, the discomfort given to the driver is reduced, the driver's psychological burden can be reduced, and the behavior of the vehicle 10 can be stabilized.
- FIG. 9 is a flowchart of the LKA control according to the second embodiment.
- the same reference numerals are given to the same portions as those in FIG. 2, and the description thereof is omitted as appropriate.
- the vehicle configuration according to the second embodiment is not different from the vehicle 10 according to the first embodiment.
- the ECU 100 calculates the LKA front wheel target rudder angle ⁇ LKA_FR based on the calculated target lateral acceleration GYTG (step S401).
- the ECU 100 stores the calculated LKA front wheel target rudder angle ⁇ LKA_FR in an appropriate storage unit (step S402).
- the LKA front wheel target rudder angle ⁇ LKA_FR is another example of the “first control target value” according to the present invention.
- FIG. 10 is a schematic diagram showing the relationship between the LKA front wheel target rudder angle ⁇ LKA_FR and the target lateral acceleration GYTG.
- the increase function increases linearly with respect to GYTG.
- FIG. 10 shows, as an example, characteristics of the LKA front wheel target angle ⁇ LKA_FR with respect to the vehicle speeds V1, V2 (V2> V1) and V3 (V3> V2) as a solid line, a broken line, and a chain line, respectively.
- the LKA front wheel target angle ⁇ LKA_FR is set to be smaller as the vehicle speed is higher when the target lateral acceleration GYTG is constant.
- the ROM of the ECU 100 stores an LKA front wheel target rudder angle map obtained by digitizing the relationship shown in FIG. 10 in advance.
- step S401 a corresponding value is selected from the LKA front wheel target angle map. Is done.
- FIG. 11 is a flowchart of VGRS control according to the second embodiment.
- the same reference numerals are given to the same portions as those in FIG. 7, and the description thereof will be omitted as appropriate.
- Step S501 when the VGRS basic target angle ⁇ VG is calculated, the ECU 100 calculates the LKA correction target angle ⁇ LK similar to that in the first embodiment based on the LKA front wheel target rudder angle ⁇ LKA_FR calculated and stored in the LKA control.
- Step S501 a configuration is adopted in which the VGRS actuator 200 is used as the main system to cause the vehicle 10 to follow the target travel path. Therefore, it is necessary to convert the steering angle of each front wheel, which is the steering wheel, to the LKA correction target angle ⁇ LK.
- the process according to step S501 corresponds to the conversion process, and is calculated as a result of the numerical calculation process based on the gear ratio of the rack and pinion mechanism.
- the ECU 100 calculates the VGRS final target angle TGF as in the first embodiment (step S303) and drives the VGRS motor 202 (step S303). Step S304).
- the VGRS control according to the second embodiment is executed as described above.
- the vehicle 10 can be made to follow the target travel path by the steering angle control by the VGRS actuator 200.
- the VGRS actuator 200 is installed at a connection portion between the upper steering shaft 12 and the lower steering shaft 13, and is not fixed to the vehicle 10. Therefore, if the driver tries to perform the steering angle control corresponding to the above-described LKA correction target angle ⁇ LK in the released state where the steering wheel 11 is not held, the reaction force torque from the lower steering shaft 13, the EPS actuator 400, or the steering wheel Instead of rotating the steering wheel, the steering wheel 11 is steered in a direction opposite to the target steering angle direction. Alternatively, the driver feels uncomfortable as if he / she cares about the steering wheel 11 in the direction opposite to the turning direction of the vehicle 10 due to the reaction force. Therefore, in the present embodiment, the influence of the reaction torque generated when following the target travel path by the steering angle control is compensated by the EPS control.
- the ECU 100 corrects an inertia correction torque T1 for correcting a component caused by the inertia of the lower steering shaft 13 and the EPS actuator 400 out of this kind of reaction torque. Is calculated (step S403).
- the inertia correction torque T1 corresponds to the sum of the “first inertia correction term” and the “second inertia correction term” according to the present invention, and is set based on the angular acceleration of the steered wheels.
- the angular acceleration of the steered wheel is a differential value of the steered angle twice.
- the steered angle is the LKA front wheel target rudder angle ⁇ LKA_FR realized by VGRS control.
- the ECU 100 calculates a viscosity correction torque T2 for correcting a component caused by the viscosity of the lower steering shaft 13 and the EPS actuator 400 in this type of reaction torque (step). Further, a friction correction torque T3 for correcting a component caused by the friction of the lower steering shaft 13 and the EPS actuator 400 in the reaction torque of this type is calculated (step S405).
- the viscosity correction torque T2 corresponds to the sum of the “first viscosity correction term” and the “second viscosity correction term” according to the present invention, and the friction correction torque T3 is the “first friction correction term according to the present invention.
- the angular velocity of the steered wheels is a differential value of the LKA front wheel target rudder angle ⁇ LKA_FR realized by VGRS control.
- the ECU 100 further calculates an axial force correction torque T4 that corrects a component caused by the axial force from the front wheel, which is the steering wheel, of this type of reaction torque (step S406).
- the axial force correction torque T4 corresponds to an example of “target auxiliary torque corresponding to the third partial reaction force torque” according to the present invention, and is set based on the angle of the steered wheels, that is, the steering angle. Note that the axial force from the steering wheel reaches the steering wheel 11 later than the time point when the steering wheel is steered due to the configuration of the vehicle 10, unlike the terms corresponding to the inertia, viscosity, and friction.
- the ECU 100 performs a filtering process in consideration of the time response for the LKA front wheel target rudder angle ⁇ LKA_FR to calculate the LKA front wheel target rudder angle correction value ⁇ fLKA_FR. .
- the axial force correction torque T4 is set based on the LKA front wheel target rudder angle correction value ⁇ fLKA_FR.
- the ECU 100 calculates the LKA target assist torque TLK according to the following equation (5) (step S407).
- the LKA target assist torque TLK is only different from that of the first embodiment, and thus illustration is omitted.
- the LKA target assist torque TLK according to the present embodiment is an example of the “second control target value” according to the present invention, and is an example of the “target assist torque”.
- FIG. 12 is a schematic diagram showing the relationship between the inertia correction torque T1 and the angular acceleration of the steering wheel.
- FIG. 13 is a schematic diagram showing the relationship between the viscosity correction torque T2 and the angular velocity of the steering wheel.
- FIG. 14 is a schematic diagram showing the relationship between the friction correction torque T3 and the angular acceleration of the steered wheels, and
- FIG. 15 is a schematic diagram showing the relationship between the axial force correction torque T4 and the LKA front wheel target rudder angle correction value ⁇ fLKA_FR. It is.
- the vertical axis represents the inertia correction torque T1
- the horizontal axis represents the angular acceleration ⁇ LKA_FR ′′ of the steered wheels (where “′′” represents the second derivative process).
- the vertical axis represents the viscosity correction torque T2
- the horizontal axis represents the angular velocity ⁇ LKA_FR ′ of the steered wheels (“′” represents differential processing).
- the vertical axis represents the friction correction torque T3
- the horizontal axis represents the angular speed ⁇ LKA_FR ′ of the steered wheels.
- the vertical axis represents the axial force correction torque T4
- the horizontal axis represents the LKA front wheel target rudder angle correction value ⁇ fLKA_FR.
- FIG. 15 shows, as an example, the characteristics of the axial force correction torque T4 with respect to the vehicle speeds V1, V2 (V2> V1) and V3 (V3> V2) as illustrated solid lines, broken lines, and chain lines, respectively.
- the axial force correction torque T4 is set to increase as the vehicle speed increases when the LKA front wheel target rudder angle correction value ⁇ fLKA_FR is constant.
- the ROM of the ECU 100 stores a correction torque map obtained by digitizing the relationships shown in FIGS. 12 to 15 in advance. In each step, a corresponding value is selected from the axial force correction torque map.
- the rudder angle control by the VGRS actuator 200 controls the rudder angle of the front wheel as the steered wheel to the LKA front wheel target rudder angle ⁇ LKA_FR. It becomes possible to make it follow suitably.
- the reaction force torque generated in the steering wheel 11 during this type of steering angle control corresponds to components corresponding to the inertia, viscosity and friction of the lower arm shaft 13 as a steering system, and to the inertia, viscosity and friction of the EPS actuator 400.
- Various correction torques T1 to T4 comprising components for correcting the axial force of the steered wheels in consideration of the components and vehicle motion are reduced by being output from the EPS actuator 400, and ideally canceled. For this reason, the driver does not necessarily need to hold the steering wheel 11 during the LKA control period, and does not feel a decrease in the steering feel due to the reaction force torque even if the steering wheel is held. Therefore, no excessive steering operation is performed on the steering wheel 11, and the behavior of the vehicle 10 can be stably maintained.
- the steering angle of the steered wheel is treated as being equivalent to the LKA front wheel target rudder angle ⁇ LKA_FR that is the target value of the steered angle.
- ⁇ LKA_FR which is the target value
- the correction torque may of course be calculated based on the rudder angle itself of the steered wheels, and in that case there will be no problem in practice. It goes without saying.
- FIG. 16 is a schematic configuration diagram conceptually showing the basic configuration of the vehicle 30.
- the same reference numerals are given to the same portions as those in FIG. 1, and the description thereof will be omitted as appropriate.
- the vehicle 30 does not have the VGRS actuator 200 that changes the relationship between the steering angle MA of the steering wheel 11 and the rudder angle of the front wheels and related devices, but instead steers the rear wheels RL and RR.
- the configuration is different from the vehicle 10 according to the first and second embodiments in that the ARS 600 is enabled. That is, in the present embodiment, the rear wheels function as “steering wheels” according to the present invention. However, the front wheels are naturally connected to the steering wheel 11 and, of course, are normally steered wheels.
- the ARS 600 includes a power cylinder (not shown) and an actuator for applying a reciprocating driving force in the horizontal direction shown in the figure to the power cylinder, and the rear steering rod 31 connected to both ends of the power cylinder is driven by the driving force applied from the actuator. It is possible to change the rudder angle of the rear wheels by driving a predetermined amount in the left-right direction.
- the vehicle configuration that enables the rear wheels to be steered is not limited to the illustrated configuration, and various known modes may be adopted.
- FIG. 17 is a flowchart of the LKA control according to the third embodiment.
- the same reference numerals are given to the same portions as those in FIG. 2, and the description thereof will be omitted as appropriate.
- FIG. 18 is a schematic diagram showing the relationship between the LKA rear wheel target rudder angle ⁇ LKA_RR and the target lateral acceleration GYTG.
- the increase function increases linearly with respect to the acceleration GYTG.
- the steering direction of the rear wheels is opposite to that of the front wheels, and the LKA rear wheel target rudder angle ⁇ LKA_RR is different from the LKA rear wheel target rudder angle ⁇ LKA_FR shown in FIG. Left) Set to the steering direction.
- FIG. 18 shows, as an example, characteristics of the LKA rear wheel target angle ⁇ LKA_RR with respect to vehicle speeds V1, V2 (V2> V1) and V3 (V3> V2) as a solid line, a broken line, and a chain line, respectively.
- the LKA rear wheel target angle ⁇ LKA_RR is set to be smaller as the vehicle speed is higher when the target lateral acceleration GYTG is constant. This is because the lateral acceleration with respect to the rudder angle increases as the vehicle speed increases, as in the case of front steer.
- the ROM of the ECU 100 stores a LKA rear wheel target rudder angle map in which the relationship shown in FIG. 18 is numerically stored in advance.
- the corresponding LKA rear wheel target rudder angle map is applicable. A value is selected.
- the relationship between the steering direction of the rear wheels and the steering direction of the front wheels is switched between the in-phase and the opposite phase, for example, depending on the vehicle speed, one of the relationships in FIG. 10 and FIG. May be.
- the ECU 100 calculates the axial force correction torque T5 for correcting the reaction torque caused by the axial force from the rear wheel based on the LKA rear wheel target rudder angle ⁇ LKA_RR (step S603).
- the axial force correction torque T5 is set as the LKA target assist torque TLK (step S604). Note that the axial force from the rear wheel also reaches the steering wheel 11 later than the time when the vehicle is steered due to the configuration of the vehicle 10 as with the front wheel. Therefore, if the axial force correction torque T5 is not determined in consideration of this type of vehicle motion, the axial force correction torque T5 is excessive or insufficient with respect to the axial force component to be canceled, and the reaction force torque is necessarily sufficiently reduced.
- the ECU 100 executes a filtering process in consideration of the time response for the LKA rear wheel target rudder angle ⁇ LKA_RR, and sets the LKA rear wheel target rudder angle correction value ⁇ fLKA_RR. calculate.
- the axial force correction torque T5 is set based on the LKA rear wheel target rudder angle correction value ⁇ fLKA_RR.
- FIG. 19 is a schematic diagram showing the relationship between the axial force correction torque T5 and the LKA rear wheel target rudder angle correction value ⁇ fLKA_RR.
- the same reference numerals are given to the same portions as those in FIG. 15, and the description thereof will be omitted as appropriate.
- the vertical axis indicates the axial force correction torque T5
- the horizontal axis indicates the LKA rear wheel target rudder angle correction value ⁇ fLKA_RR.
- the steering direction of the rear wheels is opposite to the turning direction of the vehicle, and the axial force correction torque T5 is also symmetric with the axial force correction torque T4 shown in FIG.
- FIG. 19 shows, as an example, the characteristics of the axial force correction torque T5 with respect to the vehicle speeds V1, V2 (V2> V1) and V3 (V3> V2) as illustrated solid lines, broken lines, and chain lines, respectively.
- the axial force correction torque T5 is set to increase as the vehicle speed increases when the LKA rear wheel target rudder angle correction value ⁇ fLKA_RR is constant. This is because the lateral acceleration increases as the vehicle speed increases if the rudder angle is constant.
- the ROM of the ECU 100 stores an axial force correction torque map in which the relationship shown in FIG. 19 is numerically stored in advance, and a corresponding value is selected from the axial force correction torque map in step S603.
- the vehicle configurations according to the first and second embodiments and the third embodiment are not incompatible.
- the second embodiment and the third embodiment are combined, and the steering angle control of the front and rear wheels is performed. Following the target travel path may be achieved. That is, in this case, both the axial force correction torques T4 and T5 may be reflected in the LKA target assist torque TLK.
- the present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification.
- the apparatus is also included in the technical scope of the present invention.
- the present invention can be used, for example, in a vehicle travel support device for causing a vehicle to follow a target travel path.
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- Mathematical Physics (AREA)
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- Power Steering Mechanism (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
Description
<第1実施形態>
<実施形態の構成>
始めに、図1を参照して、本発明の第1実施形態に係る車両10の構成について説明する。ここに、図1は、車両10の基本的な構成を概念的に表してなる概略構成図である。
以下、適宜図面を参照し、本実施形態の動作について説明する。
ここで、図3を参照し、目標横加速度GYTGとLKA基本目標角θLKBとの関係について説明する。ここに、図3は、目標横加速度GYTGとLKA基本目標角θLKBとの関係を表す模式図である。
EPS最終目標トルクTTGが算出されると、ECU100は、この算出されたEPS最終目標トルクTTGに基づいてEPS駆動装置500を制御し、EPSアクチュエータ400のEPSモータから、このEPS最終目標トルクTTGに対応するアシストトルクTAを出力させる(ステップS204)。ステップS204が実行されると、処理はステップS101に戻される。
上記式(3)において、K1は、操舵角MAに対するロアステアリングシャフト13の回転角を規定する操舵伝達比であり車速Vに応じて可変な数値である。ここで、図8を参照し、操舵伝達比K1と車速Vとの関係について説明する。ここに、図8は、操舵伝達比K1と車速Vとの関係を表す模式図である。
VGRS最終目標角θTGFが算出されると、ECU100は、この算出されたVGRS最終目標角θTGFに基づいてVGRS駆動装置300を制御し、VGRSアクチュエータ200のVGRSモータ202を、このVGRS最終目標角θTGFに対応する分回転させる(ステップS304)。ステップS304が実行されると、処理はステップS101に戻される。
<第2実施形態>
次に、本発明の第2実施形態として、第1実施形態とは異なるLKA制御について説明する。始めに、図9を参照し、本実施形態に係るLKA制御の詳細について説明する。ここに、図9は、第2実施形態に係るLKA制御のフローチャートである。尚、同図において、図2と重複する箇所には同一の符合を付してその説明を適宜省略することとする。また、第2実施形態に係る車両構成は、第1実施形態に係る車両10と相違ないものとする。
ここで、図12乃至図15を適宜参照し、これら各補正トルクの特性について説明する。ここに、図12は、慣性補正トルクT1と操舵輪の角加速度との関係を示す模式図であり、図13は、粘性補正トルクT2と操舵輪の角速度との関係を示す模式図であり、図14は、摩擦補正トルクT3と操舵輪の角加速度との関係を示す模式図であり、図15は、軸力補正トルクT4とLKA用前輪目標舵角補正値θfLKA_FRとの関係を示す模式図である。
<第3実施形態>
次に、本発明の第3実施形態について説明する。始めに、図16を参照し、本実施形態に係る車両30の構成について説明する。ここに、図16は、車両30の基本的な構成を概念的に表してなる概略構成図である。尚、同図において、図1と重複する箇所には同一の符合を付してその説明を適宜省略することとする。
Claims (12)
- ステアリングホイルを介して操舵入力軸に付与される操舵トルクを補助可能な操舵トルク補助手段と、
前記操舵入力軸の回転角たる操舵角と操舵輪の回転角たる舵角との関係を変化させることが可能な舵角可変手段と
を備えた車両の走行支援装置であって、
前記車両を目標走行路に追従させるための、前記操舵トルク補助手段及び前記舵角可変手段のうち一方に対応する第1制御目標値を設定する第1設定手段と、
前記設定された第1制御目標値に基づいて前記一方を制御する第1制御手段と、
前記一方の制御により前記車両を前記目標走行路に追従させるに際し生じる前記車両の挙動変化が抑制されるように前記他方に対応する第2制御目標値を設定する第2設定手段と、
前記設定された第2制御目標値に基づいて前記他方を制御する第2制御手段と
を具備することを特徴とする車両の走行支援装置。 - 前記舵角可変手段は、前記操舵輪と連結された操舵出力軸を前記操舵入力軸に対し相対回転させることにより前記関係を変化させ、
前記第1設定手段は、前記第1制御目標値として目標補助トルクを設定し、
前記第1制御手段は、該設定された目標補助トルクに基づいて前記操舵トルク補助手段を制御し、
前記第2設定手段は、前記第2制御目標値として、前記目標走行路に対する非追従時と較べて減少するように前記操舵角に対する前記操舵出力軸の回転角を規定する操舵伝達比を設定し、
前記第2制御手段は、該設定された操舵伝達比に基づいて前記舵角可変手段を制御する
ことを特徴とする請求の範囲第1項に記載の車両の走行支援装置。 - 前記舵角可変手段は、前記操舵輪と連結された操舵出力軸を前記操舵入力軸に対し相対回転させることにより前記関係を変化させ、
前記第1設定手段は、前記第1制御目標値として目標補助トルクを設定し、
前記第1制御手段は、該設定された目標補助トルクに基づいて前記操舵トルク補助手段を制御し、
前記第2設定手段は、前記第2制御目標値として、前記車両を前記目標走行路に追従させるのに要する前記操舵角が減少するように前記操舵入力軸に対する前記操舵出力軸の目標相対回転角を設定し、
前記第2制御手段は、該設定された目標相対回転角に基づいて前記舵角可変手段を制御する
ことを特徴とする請求の範囲第1項に記載の車両の走行支援装置。 - 前記第2設定手段は、前記車両の走行条件に応じて前記目標相対回転角を設定する
ことを特徴とする請求の範囲第3項に記載の車両の走行支援装置。 - 前記第2設定手段は、前記目標走行路の曲率が大きい程前記操舵角の減少量が減少するように、前記目標相対回転角を設定する
ことを特徴とする請求の範囲第4項に記載の車両の走行支援装置。 - 前記第2設定手段は、前記車両の速度が高い程前記操舵角の減少量が減少するように、前記目標相対回転角を設定する
ことを特徴とする請求の範囲第4項に記載の車両の走行支援装置。 - 前記第1設定手段は、前記第1制御目標値として目標舵角を設定し、
前記第1制御手段は、該設定された目標舵角に基づいて前記舵角可変手段を制御し、
前記第2設定手段は、前記第2制御目標値として、前記目標舵角に基づいた舵角可変手段の制御に伴って前記ステアリングホイルに加わる反力トルクが相殺されるように目標補助トルクを設定し、
前記第2制御手段は、該設定された目標補助トルクに基づいて前記操舵トルク補助手段を制御する
ことを特徴とする請求の範囲第1項に記載の車両の走行支援装置。 - 前記操舵輪は、操舵出力軸を介して前記操舵入力軸に連結された前輪であり、
前記第2設定手段は、前記操舵出力軸の運動に起因する第1部分反力トルク、前記操舵トルク補助手段の運動に起因する第2部分反力トルク及び前記操舵輪からの軸力に起因する第3部分反力トルクのうち少なくとも一部が相殺されるように前記目標補助トルクを設定する
ことを特徴とする請求の範囲第7項に記載の車両の走行支援装置。 - 前記第2設定手段は、前記第1部分反力トルクに対応する目標補助トルクを、(1)前記操舵輪の角加速度と同一の符合を有し且つ前記操舵出力軸の慣性の影響を補正する第1慣性補正項、(2)前記操舵輪の角速度と同一の符合を有し且つ前記操舵出力軸の粘性の影響を補正する第1粘性補正項、及び(3)前記操舵輪の角速度と同一の符合を有し且つ前記操舵出力軸の摩擦の影響を補正する第1摩擦補正項を含むように設定する
ことを特徴とする請求の範囲第8項に記載の車両の走行支援装置。 - 前記第2設定手段は、前記第2部分反力トルクに対応する目標補助トルクを、(1)前記操舵輪の角加速度と同一の符合を有し且つ前記操舵トルク補助手段の慣性の影響を補正する第2慣性補正項、(2)前記操舵輪の角速度と同一の符合を有し且つ前記操舵トルク補助手段の粘性の影響を補正する第2粘性補正項、及び(3)前記操舵輪の角速度と同一の符合を有し且つ前記操舵トルク補助手段の摩擦の影響を補正する第2摩擦補正項を含むように設定する
ことを特徴とする請求の範囲第8項に記載の車両の走行支援装置。 - 前記第2設定手段は、前記第3部分反力トルクに対応する目標補助トルクを、前記軸力の応答遅延を考慮し且つ前記舵角と同一の符合を有するように設定する
ことを特徴とする請求の範囲第8項に記載の車両の走行支援装置。 - 前記操舵輪は、前記操舵入力軸に連結されない後輪であり、
前記第2設定手段は、前記軸力の応答遅延を考慮し前記操舵輪からの軸力に起因する反力トルクが相殺されるように前記舵角と異なる符合を有する前記目標補助トルクを設定する。
ことを特徴とする請求の範囲第7項に記載の車両の走行支援装置。
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Also Published As
Publication number | Publication date |
---|---|
RU2483959C2 (ru) | 2013-06-10 |
EP2374693A4 (en) | 2014-10-29 |
EP2374693A1 (en) | 2011-10-12 |
RU2011126015A (ru) | 2013-02-10 |
CN102264593B (zh) | 2015-01-07 |
KR20110089195A (ko) | 2011-08-04 |
CN102264593A (zh) | 2011-11-30 |
US20110264329A1 (en) | 2011-10-27 |
EP2374693B1 (en) | 2015-08-26 |
JP5287871B2 (ja) | 2013-09-11 |
KR101285052B1 (ko) | 2013-07-10 |
JPWO2010073400A1 (ja) | 2012-05-31 |
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