WO2014010015A1 - 車両用操舵制御装置 - Google Patents
車両用操舵制御装置 Download PDFInfo
- Publication number
- WO2014010015A1 WO2014010015A1 PCT/JP2012/067476 JP2012067476W WO2014010015A1 WO 2014010015 A1 WO2014010015 A1 WO 2014010015A1 JP 2012067476 W JP2012067476 W JP 2012067476W WO 2014010015 A1 WO2014010015 A1 WO 2014010015A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- steering
- width
- gain
- travel path
- 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
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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
- 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
- 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
- B62D5/0475—Controlling other elements
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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
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
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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
- B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Definitions
- the present invention relates to a vehicle steering control device, and more particularly to a vehicle steering control device that changes a yaw rate gain of a vehicle with respect to a steering operation and a lateral acceleration gain of the vehicle with respect to the steering operation.
- a steering control device for a vehicle such as an automobile
- a steering control device configured to change steering characteristics in accordance with the width of a traveling path.
- Patent Document 1 filed by the applicant of the present application
- the steering gear ratio is increased and the differential gain of the steering transmission ratio is increased when the traveling road width is small, compared to when the traveling road width is large.
- a configured steering control device is described.
- the steering control device described in Patent Document 1 when a steering operation is performed so as to control the lateral position of the vehicle with respect to the travel path, a correction for correcting the orientation of the vehicle with respect to the travel path is performed. Steering is required. Therefore, the steering control device described in Patent Document 1 has room for improvement in this respect as well, in order to improve the narrow road running performance of the vehicle.
- the present invention has been made in view of the above-described problems in the conventional steering control device described in Patent Document 1. And the main subject of this invention can improve the narrow-path driving
- An improved steering control device is provided.
- the main problems described above are the first turning response variable means for changing the gain of the yaw rate of the vehicle for the steering operation, and the second turning response for changing the gain of the lateral acceleration of the vehicle for the steering operation.
- the control means is configured such that the magnitude of the curvature of the travel path is equal to or less than the first reference value.
- the first and second turning response variable means are set so that the ratio of the gain of the lateral acceleration to the gain of the yaw rate is larger when the width of the road is small than when the width of the road is large.
- the control means includes: In the situation where the magnitude of the curvature of the road is greater than or equal to the second reference value, the differential of the lateral acceleration with respect to the differential gain of the yaw rate is smaller when the width of the road is small than when the width of the road is large. This is achieved by a vehicle steering control device that controls at least one of the third and fourth turning response variable means so as to increase the gain ratio.
- the yaw rate is smaller when the width of the road is smaller than when the width of the road is large. Control is performed so that the ratio of the gain of lateral acceleration to the gain of is increased. Therefore, in a situation where the vehicle travels straight on a narrow road, it is possible to effectively control the lateral position of the vehicle with respect to the travel path while suppressing the generation of the yaw angle. Travelability can be improved effectively.
- the width of the travel path is large, the ratio of the gain of the lateral acceleration to the gain of the yaw rate does not increase, so that it is not difficult to change the lane or the course.
- the width of the travel path is smaller than when the width of the travel path is large.
- the ratio of the differential gain of the lateral acceleration to the differential gain of the yaw rate is controlled to be large. Therefore, compared with a case where the gain of the yaw rate and the gain of the lateral acceleration are greatly changed, the possibility that the turning curvature of the vehicle changes in a situation where the vehicle meanders on a narrow road is reduced. be able to. Further, since the generation of the yaw angle of the vehicle can be suppressed and the lateral displacement of the vehicle can be easily corrected, the correction steering accompanying the generation of the yaw angle when the vehicle is meandering can be reduced. it can.
- the ratio of the gain of the lateral acceleration to the gain of the yaw rate is based on the width of the road even if the width of the road is small. Will not be increased or decreased. Therefore, in a situation where the vehicle turns and meanders along a narrow road, the turning radius of the vehicle changes due to changes in the yaw rate gain and lateral acceleration gain of the steering operation. Can be prevented.
- the control means corrects the change in the width so that the change in the width becomes faster and gentler than the actual driving path in a situation where the width of the driving path changes.
- At least one of the first and second turning response variable means or at least one of the third and fourth turning response variable means may be controlled based on the width of the control traveling path.
- the maneuverability requirement necessary for the vehicle to travel along the travel path becomes more severe as the travel path width is smaller.
- the ratio of the lateral acceleration gain to the yaw rate gain and the ratio of the lateral acceleration differential gain to the yaw rate differential gain are moderately increased early in a situation where the width of the travel path changes. Can be changed. Therefore, it is possible to reduce a sense of incongruity caused by a sudden change in the turning response of the vehicle accompanying a change in the width of the travel path.
- the driver can get used to the maneuverability of the vehicle suitable for traveling on a narrow road before the width of the traveling road actually decreases. Accordingly, it is possible to improve the narrow road traveling performance of the vehicle while reducing the possibility that the driver feels uncomfortable.
- the control means corrects the change in the curvature to be faster and gentler than the actual traveling path in a situation where the curvature of the traveling path increases.
- At least one of the first and second turning response variable means or at least one of the third and fourth turning response variable means may be controlled based on the curvature of the control traveling path.
- the maneuverability requirement required for the vehicle to travel along the travel path becomes more severe as the curvature of the travel path increases.
- the ratio of the gain of the lateral acceleration to the gain of the yaw rate and the ratio of the differential gain of the lateral acceleration to the differential gain of the yaw rate are gently increased early. Can be changed. Therefore, it is possible to reduce a sense of incongruity caused by a sudden change in the turning response of the vehicle accompanying an increase in the curvature of the travel path.
- the driver can get used to the maneuverability of the vehicle suitable for traveling on a travel path with a large curvature before the curvature of the travel path actually increases. Therefore, it is possible to improve the narrow road traveling performance of the vehicle on the traveling road having a large curvature while reducing the possibility that the driver feels uncomfortable.
- the control means obtains information on the yaw angle of the vehicle, and when the magnitude of the yaw angle of the vehicle is large, the control means compares it with when the magnitude of the yaw angle of the vehicle is small. And controlling at least one of the first and second turning response variable means so that the change in at least one of the gain of the yaw rate and the gain of the lateral acceleration accompanying the change in the width of the traveling path becomes gentle. It may be.
- At least one of the gain of the yaw rate and the gain of the lateral acceleration is changed when the yaw angle of the vehicle is large compared to when the yaw angle of the vehicle is small.
- the change in the turning response of the vehicle can be moderated. Accordingly, the turning response of the vehicle in the situation where the magnitude of the yaw angle of the vehicle is small, while reducing the uncomfortable feeling caused by the sudden change in the turning response of the vehicle in the situation where the magnitude of the yaw angle of the vehicle is large. It can be quickly changed according to the change in the width of the travel path.
- the control means obtains information on the yaw angle of the vehicle, and when the magnitude of the yaw angle of the vehicle is large, the control means compares it with when the magnitude of the yaw angle of the vehicle is small. Then, at least one of the third and fourth turning response variable means is controlled so that the change in at least one of the differential gain of the yaw rate and the differential gain of the lateral acceleration accompanying the change in the width of the traveling path becomes gentle. It may be like this.
- the turning response of the vehicle in the situation where the magnitude of the yaw angle of the vehicle is small while reducing the uncomfortable feeling caused by the sudden change in the turning response of the vehicle in the situation where the magnitude of the yaw angle of the vehicle is large. It can be quickly changed according to the change in the width of the travel path.
- the first turning response variable means and the third turning response variable means may change the relationship of the steering angle of the front wheels with respect to the steering operation amount.
- the gain of the yaw rate of the vehicle with respect to the steering operation and the differential gain of the yaw rate of the vehicle with respect to the steering operation can be changed by changing the relationship of the steering angle of the front wheels with respect to the steering operation amount.
- the first turning response variable means and the third turning response variable means may change the steering characteristic of the vehicle.
- the gain of the yaw rate of the vehicle with respect to the steering operation and the differential gain of the yaw rate of the vehicle with respect to the steering operation can be changed.
- the second turning response variable means and the fourth turning response variable means change the relationship of the steering angle of the rear wheel with respect to the steering angle of the front wheel. It's okay.
- the vehicle includes an imaging device that images at least the front of the vehicle, and the control means includes at least a curvature and a width of the traveling path specified based on imaging information supplied from the imaging device. One may be estimated.
- the vehicle includes a navigation device, and the control means estimates at least one of a curvature and a width of the travel path based on map information supplied from the navigation device. It's okay.
- control means estimates at least one of the curvature and the width of the travel path based on the travel path information supplied wirelessly from a communication base outside the vehicle. It's okay.
- the control means changes so that the width of the travel path becomes smaller, the change in width becomes faster and gentler than the actual travel path, and It is also possible to control at least one of the first and second turning response variable means based on the width of the control traveling path that has been corrected so that the completion of the change is earlier than the actual traveling path.
- control means is a control modified so that the change in the width becomes gentler than the actual driving path in a situation where the width of the driving path changes.
- At least one of the first and second turning response variable means may be controlled based on the width of the travel path.
- control means is a control modified so that the change in curvature is gentler than the actual traveling path in a situation where the curvature of the traveling path changes.
- the at least one of the first and second turning response variable means may be controlled based on the curvature of the travel path.
- the control means controls the yaw rate gain and laterality associated with the change in the width of the travel path.
- At least one of the first and second turning response variable means may be controlled so that a change in at least one of the acceleration gains is suppressed.
- the control means when the magnitude of the yaw angle of the vehicle is equal to or greater than the reference value of the yaw angle, the control means includes a differential gain of the yaw rate associated with a change in the width of the traveling path, At least one of the first and second turning response variable means may be controlled so that a change in at least one of the differential gain of the lateral acceleration is suppressed.
- the device for changing the steering characteristic of the vehicle may be an active stabilizer device, an active suspension, an active LSD (Limited Slip Differential Gear), or any combination thereof.
- the first turning response variable means may be a device that gives a difference in braking force or driving force between the left and right wheels.
- FIG. 1 is a schematic configuration diagram showing a first embodiment of a vehicle steering control device according to the present invention applied to a four-wheel steering vehicle. It is a general flowchart which shows the steering control routine in 1st embodiment. It is a flowchart which shows the routine of the target rudder angle calculation of the front-and-rear wheel in step 300 of FIG. It is a flowchart which shows the principal part of the steering control routine in 2nd embodiment of the steering control apparatus for vehicles by this invention applied to the four-wheel steering vehicle.
- FIG. 5 is a flowchart showing a routine for correcting the width of the travel path in step 80 of FIG. 4.
- FIG. 9 is a flowchart showing a total gain correction routine in step 200 of FIG. 8.
- FIG. It is a figure which shows the map for calculating the control permission gain G based on steering angle (theta).
- FIG. 4 is a diagram showing a point set as a map so that the width Wc of the control traveling path changes more quickly and gently than the width W of the actual traveling path when the actual traveling path width W sharply decreases.
- FIG. 1 is a schematic configuration diagram showing a first embodiment of a vehicle steering control device according to the present invention applied to a four-wheel steering vehicle.
- reference numeral 10 denotes a steering control device mounted on a vehicle 12, and the steering control device 10 includes a turning angle varying device 14 and an electronic control device 16 for controlling the steering angle varying device 14.
- 18FL and 18FR indicate the left and right front wheels of the vehicle 12, respectively, and 18RL and 18RR indicate the left and right rear wheels, respectively.
- the left and right front wheels 18FL and 18FR, which are the steering wheels, are driven via a rack bar 24 and tie rods 26L and 26R by a rack and pinion type electric power steering device 22 driven in response to an operation of the steering wheel 20 by a driver. Steered.
- the steering wheel 20 which is a steering input means is drivingly connected to the pinion shaft 34 of the power steering device 22 via the upper steering shaft 28, the turning angle varying device 14, the lower steering shaft 30, and the universal joint 32.
- the turning angle varying device 14 is connected to the lower end of the upper steering shaft 28 on the housing 14A side, and is connected to the upper end of the lower steering shaft 30 via a speed reduction mechanism not shown in the drawing on the rotor 14B side.
- the auxiliary steering drive motor 36 is included.
- the turning angle varying device 14 rotationally drives the lower steering shaft 30 relative to the upper steering shaft 28, thereby driving the left and right front wheels 18 FL and 18 FR relatively to the steering wheel 20. Therefore, the turning angle varying device 14 functions as a steering gear ratio varying device (VGRS) that increases or decreases the steering gear ratio (the reciprocal of the steering transmission ratio), and thus functions as a steering transmission ratio varying device. It is controlled by the angle controller.
- VGRS steering gear ratio varying device
- the left and right rear wheels 18RL and 18RR are steered via tie rods 46L and 46R by the electric drive device 44 of the rear wheel steering device 42 independently of the steering of the left and right front wheels 18FL and 18FR. It is controlled by the steering angle control unit of the electronic control unit 16.
- the illustrated rear wheel steering device 42 is an electric auxiliary steering device having a well-known configuration, and includes an electric motor 48A and, for example, a screw-type motion conversion mechanism 48C that converts the rotation of the electric motor 48A into a reciprocating motion of the relay rod 48B.
- the relay rod 48B constitutes a steering mechanism for driving the left and right rear wheels 18RL and 18RR by reciprocating movement of the relay rod 48B in cooperation with the tie rods 46L and 46R and a knuckle arm (not shown). .
- the conversion mechanism 48C converts the rotation of the motor 48A into the reciprocating motion of the relay rod 48B, but the force transmitted from the left and right rear wheels 10RL and 10RR to the receiving relay rod 48B from the road surface. Is not transmitted to the motor 48A, and therefore, the motor 48A is not rotationally driven by the force transmitted to the relay rod 48B.
- the electric power steering device 22 is a rack coaxial type electric power steering device, and converts the electric motor 50 and the rotational torque of the electric motor 50 into a force in the reciprocating direction of the rack bar 24.
- it has a ball screw type conversion mechanism 52.
- the electric power steering device 22 is controlled by the steering assist control unit of the electronic control device 16, and generates an auxiliary steering force that drives the rack bar 24 relative to the housing 54, thereby reducing the driver's steering burden. It functions as a steering assist device.
- the steering angle varying device 14 is optional as long as it can change the steering angle of the left and right front wheels and change the rotation angle of the steering wheel 20 regardless of the driver's steering operation in cooperation with the auxiliary steering assist device. It may be of the configuration of Similarly, the steering assist device may be of any configuration as long as it can generate an auxiliary steering force.
- the steering input means is the steering wheel 20, and the operation position is a rotation angle. However, the steering input means may be a joystick type steering lever, and the operation position in that case may be a reciprocating operation position. .
- the turning angle varying device 14 works as the first and third turning response varying means for changing the yaw rate gain and the differential gain of the vehicle in cooperation with the electric power steering device 22.
- the rear wheel steering device 42 functions as second and fourth turning response variable means for changing the lateral acceleration gain and the differential gain of the vehicle, respectively.
- the upper steering shaft 28 is provided with a steering angle sensor 60 for detecting the rotation angle of the upper steering shaft as the steering angle ⁇ and a steering torque sensor 62 for detecting the steering torque Ts.
- the lower steering shaft 30 may be provided with a rotation angle sensor 64 that detects the rotation angle as a pinion angle (rotation angle of the pinion shaft 34) ⁇ .
- a signal indicating the steering angle ⁇ , a signal indicating the steering torque Ts, and a signal indicating the pinion angle ⁇ are input to the electronic control device 16 together with a signal indicating the vehicle speed V detected by the vehicle speed sensor 66.
- the rotation angle sensor 64 may be replaced with a rotation angle sensor that detects the relative rotation angle ⁇ re of the turning angle varying device 14, that is, the relative rotation angle of the lower steering shaft 30 with respect to the upper steering shaft 28.
- the vehicle 12 is provided with a CCD camera 68 for photographing the front of the vehicle, and a signal indicating image information ahead of the vehicle acquired by the CCD camera 68 is also input to the electronic control unit 16.
- a selection switch may be provided that is operated by a vehicle occupant to select the steering mode as one of the two-wheel steering mode and the four-wheel steering mode.
- Each of the steering angle control unit and the steering assist control unit of the electronic control device 16 includes a CPU, a ROM, a RAM, and an input / output port device, which are connected to each other by a bidirectional common bus. It may be. Further, the steering angle sensor 60, the steering torque sensor 62, and the rotation angle sensor 64 detect the steering angle ⁇ , the steering torque Ts, and the pinion angle ⁇ , respectively, when the steering or turning in the left turning direction of the vehicle is positive.
- the steering angle control unit of the electronic control unit 16 determines the curvature ⁇ and width of the traveling road based on the image information ahead of the vehicle acquired by the CCD camera 68 according to the flowchart shown in FIG. Estimate W. Then, the steering angle control unit controls the steering angle of the front and rear wheels by controlling the turning angle variable device 14, the electric power steering device 22 and the rear wheel steering device 42 according to the curvature ⁇ and the width W of the traveling road. This improves the narrow road running performance of the vehicle.
- the steering angle control unit decreases the gain of the yaw rate ⁇ of the vehicle with respect to the steering angle ⁇ as the width W of the travel path decreases.
- the steering angle of the front and rear wheels is controlled so that the gain of the lateral acceleration Gy is increased.
- the steering angle control unit decreases the differential gain of the yaw rate ⁇ of the vehicle with respect to the steering angular velocity ⁇ d as the width W of the traveling road decreases, and the differential gain of the lateral acceleration Gy increases.
- the steering angle of the front and rear wheels is controlled so as to increase.
- the steering angle control unit controls the steering angle so that the attenuation gain of the yaw rate ⁇ of the vehicle and the attenuation gain of the lateral acceleration Gy with respect to the steering angular velocity ⁇ d increase as the width W of the travel path decreases.
- the steering angle control unit decreases the differential gain of the yaw rate ⁇ of the vehicle with respect to the steering angular velocity ⁇ d as the width W of the traveling road decreases, and the differential gain of the lateral acceleration Gy increases.
- the steering angle of the front and rear wheels is controlled so as to increase.
- the steering angle control unit controls the steering angles of the front and rear wheels so that the attenuation gain of the yaw rate ⁇ of the vehicle and the attenuation gain of the lateral acceleration Gy with respect to the steering angular velocity ⁇ d increase as the width W of the travel path decreases.
- the steering angle control unit does not increase or decrease the gain of the yaw rate ⁇ of the vehicle and the gain of the lateral acceleration Gy with respect to the steering angle ⁇ based on the width W of the traveling road even if the width W of the traveling road is small.
- the steering angle control unit calculates the target yaw rate ⁇ t and the target lateral acceleration Gy of the vehicle based on the steering angle ⁇ and the steering angular velocity ⁇ d using the gain of the yaw rate ⁇ increased or decreased as necessary.
- the steering angle control unit calculates the target slip angle ⁇ t of the vehicle based on the target yaw rate ⁇ t and the target lateral acceleration Gy, and calculates the target steering angles ⁇ ft and ⁇ rt of the front and rear wheels based on the target yaw rate ⁇ t and the target slip angle ⁇ t. Calculate.
- the steering angle control unit controls the turning angle variable device 14 and the electric power steering device 22 so that the steering angle ⁇ f of the front wheels becomes the target steering angle ⁇ ft, and the steering angle ⁇ r of the rear wheels becomes the target steering angle ⁇ r.
- the rear wheel steering device 42 is controlled so that the angle ⁇ rt is obtained.
- the control according to the flowchart shown in FIG. 2 is started by closing an ignition switch not shown in the figure, and is repeatedly executed at predetermined time intervals.
- step 10 a signal indicating the steering angle ⁇ detected by the steering angle sensor 60 is read.
- step 20 the signal of the image information ahead of the vehicle acquired by the CCD camera 68 is electronically processed to identify the traveling path. Then, based on the identified travel path information and the vehicle speed V, the curvature ⁇ and the width W of the travel path at the position where the vehicle is currently traveling are estimated. Note that the curvature ⁇ of the traveling road is estimated with the left turning direction being positive.
- step 50 it is determined whether or not the absolute value of the curvature ⁇ of the road is larger than the first reference value ⁇ 1 and smaller than the second reference value ⁇ 2, and a negative determination is made. If so, the control proceeds to step 100, and if an affirmative determination is made, the control proceeds to step 60.
- the reference values ⁇ 1 and ⁇ 2 may be positive constants.
- step 60 the control permission gain G indicating the degree of permission of control is set to 1, and in step 70, the correction coefficient K * of the gain Ga * such as the yaw rate ⁇ of the vehicle with respect to the steering operation is set to 1. Is set.
- the gain Ga * is the gains Gay and Gag of the vehicle yaw rate ⁇ and lateral acceleration Gy with respect to the steering operation, the differential gains Gayd and Gagd of the yaw rate ⁇ and lateral acceleration Gy with respect to the steering speed, the yaw rate ⁇ and the lateral acceleration Gy with respect to the steering speed. Attenuation gains Gaym and Gagm. Therefore, * is a general term for y, g, yd, gd, ym, and gm.
- step 100 it is determined whether or not the absolute value of the curvature ⁇ of the travel path is larger than the second reference value ⁇ 2.
- the control proceeds to step 130, and when a negative determination is made, that is, when the absolute value of the curvature ⁇ of the travel path is equal to or less than the first reference value ⁇ 1, the control proceeds to step 110. move on.
- the control permission gain G is calculated from the map shown in FIG. 10 based on the steering angle ⁇ . As shown in FIG. 10, the control permission gain G is calculated to be 1 when the absolute value of the steering angle ⁇ is equal to or smaller than the first reference value ⁇ 1, and the absolute value of the steering angle ⁇ is the second reference value. When it is equal to or larger than ⁇ 2, it is calculated as 0. Further, when the absolute value of the steering angle ⁇ is larger than the first reference value ⁇ 1 and smaller than the second reference value ⁇ 2, the control permission gain G is calculated so as to decrease as the absolute value of the steering angle ⁇ increases. .
- a correction coefficient K * such as a gain Gay of the yaw rate ⁇ of the vehicle with respect to the steering operation is calculated from the maps shown in FIGS. 11 to 16 based on the width W of the travel path. That is, the correction coefficient Ky for the gain Gay, the correction coefficient Kyd for the differential gain Gayd, and the correction coefficient Kym for the attenuation gain Gaym are calculated from the maps shown in FIGS. Also, the gain Gag correction coefficient Kg, the differential gain Gagd correction coefficient Kgd, and the attenuation gain Gagm correction coefficient Kgm are calculated from the maps shown in FIGS.
- the correction coefficients Ky and Kyd are calculated to be smaller than 1 as the width W of the travel path is smaller, and the correction coefficients Kym, Kg, Kgd, and Kgm are larger than 1 as the width W of the travel path is smaller. Calculated.
- step 130 the control permission gain G is calculated from the map shown in FIG. 17 based on the steering angle ⁇ .
- the steering angle ⁇ c is a steering angle for the vehicle to travel on the road having the curvature ⁇ estimated in step 20
- ⁇ 1 is a positive constant
- ⁇ 2 is greater than ⁇ 1.
- the control permission gain G is calculated to 0 when the steering angle ⁇ is equal to or smaller than the first reference value ⁇ c ⁇ 2 or the fourth reference value ⁇ c + ⁇ 2, and the steering angle ⁇ is When the second reference value ⁇ c ⁇ 1 is equal to or larger than the third reference value ⁇ c + ⁇ 1, it is calculated as 1. Further, when the steering angle ⁇ is larger than the first reference value ⁇ c ⁇ 2 and smaller than the second reference value ⁇ c ⁇ 1, the control permission gain G is calculated so as to increase as the steering angle ⁇ increases. Further, when the steering angle ⁇ is larger than the third reference value ⁇ c + ⁇ 1 and smaller than the fourth reference value ⁇ c + ⁇ 2, the control permission gain G is calculated to be smaller as the steering angle ⁇ is larger.
- step 140 the gains Gay and the gain Gag correction coefficients Ky and Kg are set to 1, and based on the width W of the travel road, the vehicle's steering operation is determined based on the maps shown in FIGS.
- a correction coefficient K * such as a differential gain Gayd of the yaw rate ⁇ is calculated. That is, the correction coefficient Kyd for the differential gain Gayd and the correction coefficient Kym for the attenuation gain Gaym are calculated from the maps shown in FIGS. 18 and 19, respectively. Further, the correction coefficient Kgd for the differential gain Gagd and the correction coefficient Kgm for the attenuation gain Gagm are calculated from the maps shown in FIGS. 20 and 21, respectively. In this case, the correction coefficient Kyd is calculated to be smaller than 1 as the travel path width W is smaller, and the correction coefficients Kym, Kgd, and Kgm are calculated to be greater than 1 as the travel path width W is smaller.
- step 70, 120 or 140 the control proceeds to step 300, where the target steering angles ⁇ ft and ⁇ rt of the front and rear wheels are calculated according to the flowchart shown in FIG.
- step 400 the turning angle variable device 14 is controlled so that the steering angles of the front wheels 18FL and 18FR become the target steering angle ⁇ ft, and the steering angles of the rear wheels 18RL and 18RR become the target steering angle ⁇ rt.
- the rear wheel steering device 42 is controlled.
- step 310 for example, the steering angular velocity ⁇ d is calculated as a time differential value of the steering angle ⁇ .
- step 320 the target yaw rate ⁇ t of the vehicle is calculated according to the following equation 1 based on the steering angle ⁇ and the steering angular velocity ⁇ d.
- Gay0 is a default value of the gain Ya of the vehicle yaw rate ⁇ with respect to the steering angle ⁇
- Gayd0 and Gaym0 are the differential gain Gayd and the attenuation gain Gaym of the yaw rate ⁇ of the vehicle with respect to the steering angular velocity ⁇ d, respectively. Is the default value.
- ⁇ t ⁇ Ky ⁇ G + (1-G) ⁇ Gay0 ⁇ ⁇ + ⁇ Kyd ⁇ G + (1-G) ⁇ Gayd0 ⁇ ⁇ d + ⁇ Kym ⁇ G + (1-G) ⁇ Gaym0 ⁇ ⁇ d (1)
- the target lateral acceleration Gyt of the vehicle is calculated according to the following equation 2 based on the steering angle ⁇ and the steering angular velocity ⁇ d.
- Gag0 is the default value of the gain Gag of the vehicle lateral acceleration Gy with respect to the steering angle ⁇
- Gagd0 and Gagm0 are the differential gain Gagd and the attenuation of the vehicle lateral acceleration Gy with respect to the steering angular velocity ⁇ d, respectively. This is the default value of the gain Gagm.
- Gyt ⁇ Kg ⁇ G + (1-G) ⁇ Gag0 ⁇ ⁇ + ⁇ Kgd ⁇ G + (1-G) ⁇ Gagd0 ⁇ ⁇ d + ⁇ Kgm ⁇ G + (1-G) ⁇ Gagm0 ⁇ ⁇ d (2)
- step 340 the target slip angle ⁇ t of the vehicle is calculated according to the following equation 3 based on the target yaw rate ⁇ t and the target lateral acceleration Gyt of the vehicle.
- ⁇ t ⁇ ⁇ (Gyt / V) ⁇ t ⁇ dt (3)
- step 350 the front wheel target rudder angle ⁇ ft and the rear wheel target rudder angle ⁇ rt are calculated according to the following equation 4 based on the vehicle target yaw rate ⁇ t and target slip angle ⁇ t.
- Equation 4 s is a Laplace operator
- Cf and Cr are the cornering powers of the front and rear wheels, respectively
- I is the yaw moment of inertia about the center of gravity of the vehicle.
- M is the mass of the vehicle
- Lf and Lr are horizontal distances in the front-rear direction from the center of gravity of the vehicle to the front wheel axle and the rear wheel axle, respectively.
- step 20 the travel path is identified based on the image information ahead of the vehicle acquired by the CCD camera 68, and the vehicle is identified based on the identified travel path information and the vehicle speed V.
- the curvature ⁇ and the width W of the traveling path at the position where the vehicle is currently traveling are estimated.
- step 50 it is determined whether or not the absolute value of the curvature ⁇ of the travel path is between the first reference value ⁇ 1 and the second reference value ⁇ 2, and if necessary, step 100 is determined. In this case, it is determined whether or not the absolute value of the curvature ⁇ of the traveling road is larger than the second reference value ⁇ 2.
- A1 The absolute value of the curvature ⁇ is between the first reference value ⁇ 1 and the second reference value ⁇ 2.
- step 50 an affirmative determination is made in step 50, and in steps 60 and 70, the control permission gain G is set to 1, and the correction coefficient K * for the gain Ga * is set to 1. . Therefore, regardless of the width W of the traveling path, the ratio of the lateral acceleration gain to the yaw rate gain and the ratio of the lateral acceleration differential gain to the yaw rate differential gain are not increased or decreased. (A2) When the absolute value of the curvature ⁇ is equal to or less than the first reference value ⁇ 1
- step 110 the permission gain G is set to 1 when the steering angle ⁇ is close to a value close to 0, and the gain
- the correction coefficient K * of Ga * is variably set according to the width W of the travel path.
- the correction coefficient K * is variably set so that the gain of the yaw rate ⁇ of the vehicle with respect to the steering angle ⁇ decreases and the gain of the lateral acceleration Gy increases as the width W of the travel path decreases. Further, the correction coefficient K * is variably set so that the differential gain of the yaw rate ⁇ of the vehicle with respect to the steering angular velocity ⁇ d decreases and the differential gain of the lateral acceleration Gy increases as the width W of the travel path decreases.
- the curvature of the road is less than or equal to the first reference value
- the smaller the width of the road the greater the ratio of the lateral acceleration gain to the yaw rate gain, and the lateral acceleration relative to the yaw rate differential gain.
- the differential gain ratio increases. Therefore, in a situation where the vehicle travels on a narrow road, it is possible to effectively control the lateral position of the vehicle with respect to the travel path while suppressing the generation of the yaw angle. Thus, it is possible to effectively improve the narrow road running performance of the vehicle.
- step 130 the steering gain for setting the steering angle for the vehicle to travel on the road having the curvature ⁇ is ⁇ c, and the permission gain G is set to 1 when the steering angle ⁇ is a value in the vicinity of ⁇ c.
- the correction coefficient K * for the gain Ga * is variably set according to the width W of the travel path.
- the ratio of the differential gain of the lateral acceleration to the differential gain of the yaw rate increases as the width of the travel path decreases. Therefore, in a situation where the vehicle travels on a narrow road, it is possible to effectively control the lateral position of the vehicle with respect to the travel path while suppressing the generation of the yaw angle. Thus, it is possible to effectively improve the narrow road running performance of the vehicle. Further, it is possible to reduce the correction steering necessary for correcting the direction of the vehicle with respect to the traveling road, and this can also improve the narrow road traveling performance of the vehicle.
- the correction coefficient K * is set so that the vehicle width relative to the steering angular velocity ⁇ d becomes smaller as the width W of the travel path decreases.
- the attenuation gain of the yaw rate ⁇ and the attenuation gain of the lateral acceleration Gy are variably set.
- the steering operation when the steering operation is performed, if the yaw rate ⁇ and the lateral acceleration Gy of the vehicle overshoot with respect to the target values, a corrective steering is required to cope with the overshoot.
- the overshoot of the yaw rate ⁇ and the lateral acceleration Gy of the vehicle is more likely to occur as the steering operation is larger and the steering speed is higher. Further, the necessity of the correction steering for dealing with the overshoot of the yaw rate ⁇ and the lateral acceleration Gy of the vehicle becomes higher as the width of the travel path is smaller.
- the smaller the width W of the travel path the larger the yaw rate ⁇ attenuation gain and the lateral acceleration Gy attenuation gain of the vehicle. Accordingly, it is possible to reduce the correction steering to cope with the overshooting of the yaw rate ⁇ and the lateral acceleration Gy of the vehicle when the steering operation is performed with respect to the target values, and this also allows the vehicle to travel on a narrow road. Can be improved.
- the correction coefficient K * is calculated with respect to the steering angular velocity ⁇ d.
- the attenuation gain of the yaw rate ⁇ and the attenuation gain of the lateral acceleration Gy of the vehicle are also set to 1.
- the correction coefficient K * is such that the smaller the travel path width W, the more the vehicle's steering angle speed ⁇ d becomes.
- the attenuation gain of the yaw rate ⁇ and the attenuation gain of the lateral acceleration Gy may be variably set. The same applies to other embodiments described later.
- the steering control according to the flowchart shown in FIG. 2 is terminated.
- the driver travels when the turn signal is operated, when the steering torque Ts, the steering angle ⁇ , or the steering angular velocity ⁇ d is larger than a predetermined criterion, or when the vehicle crosses the lane. It may be determined that the intention to escape from the road has been shown. The same applies to other embodiments described later.
- FIG. 4 is a flowchart showing a main part of a steering angle control routine for front and rear wheels in a second embodiment of the vehicle steering control device according to the present invention applied to a four-wheel steering vehicle.
- the same step number as the step number shown in FIG. 2 is assigned to the same step as the step shown in FIG. The same applies to other embodiments described later.
- step 80 is executed, and then control proceeds to step 100. .
- Steps other than step 80 are executed in the same manner as in the first embodiment described above.
- step 80 according to the flow chart shown in FIG. 5, the width W of the travel path used for the calculation of the correction coefficient K * (calculation of the width Wc of the control travel path) is performed. Is called.
- step 82 whether or not the control road width Wc is calculated based on the control road width Wc set in step 86 or 90 to be described later. A determination is made. When an affirmative determination is made, control proceeds to step 92, and when a negative determination is made, control proceeds to step 84.
- step 84 based on the information on the road specified in step 20, whether the width of the road rapidly decreases in the range from the current location of the vehicle to a predetermined distance point. A determination of whether or not is made. When a negative determination is made, the control proceeds to step 88, and when an affirmative determination is made, the control proceeds to step 86.
- step 86 the distance La from the current location of the vehicle to the point where the sudden decrease in width starts and the distance Lb from the current location of the vehicle to the point where the sudden decrease in width ends are estimated. Further, based on the width Wa of the traveling path before the width is suddenly reduced and the width Wb of the traveling path after the width is suddenly reduced, as shown by a solid line in FIG.
- the travel road width Wc is set as a map so as to decrease more quickly and gently than the actual travel road width W.
- step 88 on the basis of the information on the road specified in step 20, whether the width of the road rapidly increases in the range from the current position of the vehicle to a preset distance point. A determination of whether or not is made. When a negative determination is made, the control proceeds to step 100, and when an affirmative determination is made, the control proceeds to step 90.
- step 90 the distance La from the current location of the vehicle to the point where the sudden increase in width starts and the distance Lb from the current location of the vehicle to the point where the sudden increase in width ends are estimated. Further, based on the width Wa of the travel path before the width suddenly increases and the width Wb of the travel path after the width suddenly increases, as shown in FIG. 23, the width Wc of the control travel path Is set as a map so as to increase more gently than the actual width W of the travel path.
- step 84 or 88 whether or not the width is suddenly reduced or increased is determined by, for example, the ratio of the amount of change in width with respect to a preset reference distance in the longitudinal direction of the traveling path being greater than or equal to a reference value. It may be a determination of whether or not. Further, when the width of the travel path changes stepwise, the distances La and Lb may be the same value. Furthermore, the degree to which the change in the width Wc of the control traveling path is moderated may be constant, but is variably set so as to be gentler as the difference between the width Wa and the width Wb increases. Also good.
- step 92 the travel distance Lv of the vehicle from the time point is calculated based on the elapsed time and the vehicle speed V from the time point when the width Wc of the control travel path is set in step 86 or 90. The Then, the width Wc of the control road is calculated from the map shown in FIG. 22 or 23 based on the travel distance Lv, and the width Wc of the road is set as the corrected width W of the road. Control continues to step 100.
- steps other than step 80 are executed in the same manner as in the first embodiment described above. Therefore, according to the second embodiment, it is possible to obtain the same effect as that of the first embodiment. That is, in a situation where the vehicle travels on a narrow road, the lateral position of the vehicle relative to the travel path can be effectively controlled while suppressing the generation of the yaw angle, and the direction of the vehicle relative to the travel path can be controlled. Corrective steering required to correct can be reduced.
- step 80 the width Wc of the control travel path is calculated according to the flowchart shown in FIG.
- the travel path width W is corrected. (B1) When the width of the travel path suddenly decreases
- a negative determination is first made at step 82 and an affirmative determination is made at step 84.
- the width Wc of the control traveling road is determined as shown by the solid line in FIG.
- the map is set so as to decrease more quickly and gently than the actual width W of the travel path.
- an affirmative determination is made at step 82, and control is performed from the map shown in FIG. 22 based on the travel distance Lv from the time when the width Wc of the control travel path is set at step 92.
- the travel road width Wc is calculated, and the width Wc is set as the corrected travel road width W.
- the correction coefficient K * is performed based on the corrected width W of the travel path.
- the correction coefficient K * can be changed more quickly and gently than the change according to the actual width W of the travel path.
- the ratio of the gain of a lateral acceleration with respect to the gain of a yaw rate and the ratio of the differential gain of a lateral acceleration with respect to the differential gain of a yaw rate can be gently changed early.
- a negative determination is first made in steps 82 and 84, and an affirmative determination is made in step 88.
- step 90 based on the widths Wa and Wb of the traveling road before and after the width increases abruptly, as shown in FIG.
- the map is set so as to increase more gently than the width W.
- an affirmative determination is made at step 82, and control is performed from the map shown in FIG. 23 based on the travel distance Lv from the time when the width Wc of the control travel path is set at step 92.
- the travel road width Wc is calculated, and the width Wc is set as the corrected travel road width W.
- the calculation of the correction coefficient K * is performed based on the corrected width W of the travel path.
- the correction coefficient K * can be changed more gently than the change according to the actual width W of the travel path.
- the ratio of the gain of the lateral acceleration to the gain of the yaw rate and the ratio of the differential gain of the lateral acceleration to the differential gain of the yaw rate can be changed gently as compared with the case of the first embodiment.
- the correction coefficient K * is calculated based on the width W of the travel path corrected as necessary. Therefore, while reducing the possibility that the driver will feel uncomfortable due to the change in the width W of the travel path, the situation is such that the width W of the travel path changes compared to the case of the first embodiment described above. It is possible to improve the narrow road running performance of the vehicle.
- the width Wc of the control road set in step 86 is the width Wc of the actual road, as indicated by the broken line in FIG. It may be set so that it decreases more quickly and gently, and the decrease is completed earlier than the actual width W of the travel path. In that case, it is achieved more reliably than in the case of the second embodiment that the driver gets used to the maneuverability of the vehicle suitable for traveling on a narrow road before the width of the traveling road actually decreases. be able to.
- This modification example will be referred to as a “first modification example” in this specification. [Third embodiment]
- FIG. 6 is a flowchart showing a main part of a front and rear wheel steering angle control routine in a third embodiment of the vehicle steering control device according to the present invention applied to a four-wheel steering vehicle.
- step 30 is executed instead of step 20, and then control proceeds to step 50.
- Steps other than step 30 are executed in the same manner as in the first embodiment described above.
- step 30 according to the flowchart shown in FIG. 7 as follows, correction of the curvature ⁇ of the travel path (calculation of the curvature ⁇ c of the control travel path) used for the discrimination in steps 50 and 100 is performed. Is called.
- step 32 whether or not the curvature ⁇ c of the control road is calculated based on the curvature ⁇ c of the control road set in step 36 or 40 described later. A determination is made. When an affirmative determination is made, control proceeds to step 42, and when a negative determination is made, control proceeds to step 34.
- step 34 the travel route is specified in the same manner as in step 20 of the first embodiment. Based on the information on the specified travel route, the vehicle travels from the current location to a predetermined distance. It is determined whether or not the curvature of the travel path increases within the range. When a negative determination is made, the control proceeds to step 38, and when an affirmative determination is made, the control proceeds to step 36.
- step 36 the distance La from the current location of the vehicle to the point where the increase in curvature starts and the distance Lb from the current location of the vehicle to the point where the increase in curvature ends are estimated. Further, based on the curvature ⁇ a of the travel path before the curvature increases and the curvature ⁇ b of the travel path after the curvature increases, as shown in FIG. 24, the curvature ⁇ c of the control travel path is the actual travel. The map is set so as to increase more quickly and gently than the curvature ⁇ of the road.
- step 38 whether or not the curvature of the travel path is reduced in the range from the current location of the vehicle to a predetermined distance based on the travel path information specified in step 34 is determined. Is determined. When a negative determination is made, the control proceeds to step 100, and when an affirmative determination is made, the control proceeds to step 40.
- step 40 the distance La from the current location of the vehicle to the point where the decrease in curvature starts and the distance Lb from the current location of the vehicle to the point where the decrease in curvature ends are estimated. Further, based on the curvature ⁇ a of the traveling road before the curvature decreases and the curvature ⁇ b of the traveling road after the curvature decreases, as shown in FIG. 25, the curvature ⁇ c of the control traveling road is the actual traveling. The map is set so as to decrease more gently than the curvature ⁇ of the road.
- Whether or not the curvature performed in step 34 or 38 is increased or decreased is determined by, for example, the difference in the curvature of the traveling path at two points previously separated by a reference distance along the traveling path. May be a determination of whether or not is greater than or equal to a positive reference value or less than or equal to a negative reference value. Further, the degree to which the change in the curvature ⁇ c of the control road is moderated may be constant, but may be variably set to be gentle as the magnitude of the difference in the curvature of the road is large. Good.
- step 42 the travel distance Lv of the vehicle from the time point is calculated based on the elapsed time and the vehicle speed V from the time point when the curvature ⁇ c of the control travel path is set in step 36 or 40. The Then, the curvature ⁇ c of the control road is calculated from the map shown in FIG. 24 or FIG. 25 based on the travel distance Lv, and the curvature ⁇ c of the travel road is set as the corrected curvature ⁇ of the travel road. Control continues to step 44.
- step 44 the width W of the travel path at the position where the vehicle is currently traveling is based on the identified travel path information and the vehicle speed V in the same manner as in step 20 of the first embodiment. Then, the control proceeds to step 50.
- steps other than step 30 are executed in the same manner as in the first embodiment described above. Therefore, according to the third embodiment, it is possible to obtain the same operational effects as in the case of the first embodiment. That is, in a situation where the vehicle travels on a narrow road, the lateral position of the vehicle relative to the travel path can be effectively controlled while suppressing the generation of the yaw angle, and the direction of the vehicle relative to the travel path can be controlled. Corrective steering required to correct can be reduced.
- step 30 the curvature ⁇ of the travel path is corrected and the width W of the travel path is estimated according to the flowchart shown in FIG. The subsequent steps are executed. (C1) When the curvature of the travel path increases
- step 32 a negative determination is made in step 32 and an affirmative determination is made in step 34.
- step 36 based on the curvatures ⁇ a and ⁇ b of the traveling road before and after the curvature of the traveling road increases, as shown in FIG. 24, the curvature ⁇ c of the control traveling road becomes the actual traveling road. It is set as a map so as to increase more quickly and gently than the curvature ⁇ .
- an affirmative determination is made at step 32, and control is performed from the map shown in FIG. 24 based on the travel distance Lv from the time point when the curvature ⁇ c of the control travel path is set at step 42.
- the curvature ⁇ c of the traveling road is calculated, and the curvature ⁇ c is used as the corrected curvature ⁇ of the traveling road.
- the magnitude determination of the curvature of the travel path for calculating the correction coefficient K * is performed based on the corrected curvature ⁇ of the travel path.
- the correction coefficient K * can be changed more quickly and gently than the change according to the actual curvature ⁇ of the traveling road.
- a negative determination is first made in steps 32 and 34, and an affirmative determination is made in step 38.
- step 40 based on the curvatures ⁇ a and ⁇ b of the traveling road before and after the curvature decreases, as shown in FIG. It is set as a map to decrease more gently.
- an affirmative determination is made at step 32, and control is performed from the map shown in FIG. 25 based on the travel distance Lv from the time point when the curvature ⁇ c of the control travel path is set at step 42.
- the curvature ⁇ c of the traveling road is calculated, and the curvature ⁇ c is used as the corrected curvature ⁇ of the traveling road.
- the calculation of the correction coefficient K * is performed based on the corrected curvature ⁇ of the traveling road.
- the correction coefficient K * can be changed more gently than the change according to the actual curvature ⁇ of the travel path.
- the correction coefficient K * is calculated based on the width W of the travel path according to the result of the magnitude determination of the curvature ⁇ of the travel path corrected as necessary. Therefore, while reducing the possibility that the driver feels uncomfortable due to the change in the curvature ⁇ of the traveling road, the curvature ⁇ of the traveling road changes compared to the case of the first embodiment described above. It is possible to improve the narrow road running performance of the vehicle.
- FIG. 8 is a flowchart showing a main part of a steering angle control routine for the front and rear wheels in the fourth embodiment of the vehicle steering control device according to the present invention applied to a four-wheel steering vehicle.
- step 30 is executed instead of step 20 as in the third embodiment. If a negative determination is made in step 50, step 80 is executed as in the case of the second embodiment, and then control proceeds to step 100. In the fourth embodiment, when step 70, 120 or 140 is completed, step 200 is executed prior to step 300.
- steps other than steps 30, 80, and 200 are performed similarly to the case of the above-mentioned first embodiment.
- Step 30 is executed in the same manner as in the above-described third embodiment
- step 80 is executed in the same manner as in the above-described second embodiment.
- step 200 according to the flowchart shown in FIG. 9 as follows, correction of the total gain Gt * used for calculating the front and rear wheel target rudder angles ⁇ ft and ⁇ rt (suppression of changes in the total gain Gt *) Is done.
- the yaw angle ⁇ of the vehicle that is, the angle formed by the longitudinal direction of the traveling path with respect to the longitudinal direction of the traveling path is calculated based on the specified traveling path information.
- the calculation of the yaw angle ⁇ of the vehicle may be performed in an arbitrary manner.
- the total gain Gt * such as the yaw rate ⁇ of the vehicle with respect to the steering operation is calculated according to the following equations 5 to 10.
- the total gains Gty and Gtg are total gains of the yaw rate ⁇ and the lateral acceleration Gy of the vehicle with respect to the steering operation, respectively.
- the total gains Gtyd and Gtgd are total differential gains of the yaw rate ⁇ and the lateral acceleration Gy with respect to the steering speed, respectively.
- total gains Gtym and Gtgm are total attenuation gains of yaw rate ⁇ and lateral acceleration Gy with respect to the steering speed, respectively.
- Gty ⁇ Ky ⁇ G + (1-G) ⁇ Gay0 (5)
- Gtyd ⁇ Kyd ⁇ G + (1-G) ⁇ Gayd0 (6)
- Gtym ⁇ Kym ⁇ G + (1 ⁇ G) ⁇ Gaym0 (7)
- Gtg ⁇ Kg ⁇ G + (1-G) ⁇ Gag0 (8)
- Gtgd ⁇ Kgd ⁇ G + (1 ⁇ G) ⁇ Gagd0 (9)
- Gtgm ⁇ Kgm ⁇ G + (1-G) ⁇ Gagm0 (10)
- step 230 it is determined whether or not it is necessary to limit the change in the total gain Gt *.
- the control proceeds to step 300, and when an affirmative determination is made, the control proceeds to step 240.
- the absolute value of the yaw angle ⁇ of the vehicle is larger than the reference value ⁇ c (positive constant) for a reference time or more, it may be determined that the change in the total gain Gt * needs to be limited. Further, each step after step 240 is executed for each total gain.
- a change limit value Gt * lim (positive value) of the total gain Gt * is calculated.
- the change limit value Gt * lim is calculated according to the absolute value of the yaw angle ⁇ so as to decrease as the absolute value of the yaw angle ⁇ increases.
- the change limit value Gt * lim may be a constant value regardless of the absolute value of the yaw angle ⁇ .
- a determination is made as to whether it is greater than lim. When a negative determination is made, the control proceeds to step 270, and when an affirmative determination is made, the control proceeds to step 260.
- step 260 the total gain Gt * is corrected to the sum of the previous value Gt * f and the change limit value Gt * lim, whereby the increase in the total gain Gt * is limited.
- step 270 it is determined whether or not the total gain difference ⁇ Gt * is smaller than ⁇ Gt * lim. When a negative determination is made, the control proceeds to step 300, and when an affirmative determination is made, the control proceeds to step 280.
- step 280 the total gain Gt * is corrected to the sum of the previous value Gt * f and -Gt * lim, so that the reduction of the total gain Gt * is limited. Thereafter, the control proceeds to step 300. .
- Step 300 of the fourth embodiment the target yaw rate ⁇ t and the target lateral acceleration Gyt of the vehicle are calculated using the total gain Gt *. That is, in step 320 of step 300, the target yaw rate ⁇ t of the vehicle is calculated according to the following equation 11, and in step 330, the target lateral acceleration Gyt of the vehicle is calculated according to the following equation 12.
- ⁇ t Gty ⁇ ⁇ + Gtyd ⁇ ⁇ d + Gtym ⁇ ⁇ d (11)
- Gyt Gtg ⁇ ⁇ + Gtgd ⁇ ⁇ d + Gtgm ⁇ ⁇ d (12)
- steps other than steps 30, 80 and 200 are executed in the same manner as in the first embodiment described above. Therefore, according to the fourth embodiment, it is possible to obtain the same effect as that of the first embodiment. That is, in a situation where the vehicle travels on a narrow road, the lateral position of the vehicle relative to the travel path can be effectively controlled while suppressing the generation of the yaw angle, and the direction of the vehicle relative to the travel path can be controlled. Corrective steering required to correct can be reduced.
- step 30 is executed in the same manner as in the above-described third embodiment
- step 80 is executed in the same manner as in the above-described second embodiment. Therefore, according to the fourth embodiment, it is possible to obtain the same operational effects as in the second and third embodiments. That is, the width W and the curvature of the traveling path are reduced as compared with the case of the first embodiment described above while reducing the possibility that the driver feels uncomfortable due to the change in the width W and the curvature ⁇ of the traveling path. It is possible to improve the narrow road traveling performance of the vehicle in a situation where ⁇ changes.
- step 200 the yaw angle ⁇ of the vehicle is controlled so that the change of the total gain Gt * used for the calculation of the target steering angles ⁇ ft and ⁇ rt of the front and rear wheels is suppressed. Based on the above, the total gain Gt * is corrected. (D1) When the absolute value of the yaw angle ⁇ of the vehicle is larger than the reference value ⁇ c
- step 230 an affirmative determination is made in step 230, and in step 240, the yaw angle is set such that the change limit value Gt * lim of the total gain Gt * decreases as the absolute value of the yaw angle ⁇ increases. It is calculated according to the absolute value of ⁇ .
- step 250 it is determined whether or not the difference ⁇ Gt * between the total gain Gt * and its previous value Gt * f is larger than the change limit value Gt * lim.
- step 260 the total gain Gt * is corrected to the sum of the previous value Gt * f and the change limit value Gt * lim. The increase in the total gain Gt * is limited.
- step 270 the difference ⁇ Gt * between the total gain Gt * and the previous value Gt * f is reduced from the change limit value -Gt * lim at the time of decrease. It is also determined whether or not it is smaller.
- the difference ⁇ Gt * is smaller than the change limit value ⁇ Gt * lim when decreasing, the total gain Gt * is corrected to the sum of the previous value Gt * f and ⁇ Gt * lim in step 280. This limits the decrease in the total gain Gt *.
- the yaw angle ⁇ of the vehicle when the yaw angle ⁇ of the vehicle is large, even if the width W or the curvature ⁇ of the travel path changes as the vehicle travels, the total gain Gt * increases as the correction coefficient K * changes. A large change can be suppressed. Therefore, in the situation where the magnitude of the yaw angle of the vehicle is larger than in the case of the first to third embodiments described above, the turning response of the vehicle in accordance with the change in the width W of the travel path or the curvature ⁇ . It is possible to reduce the abrupt change of the vehicle and the possibility that the driver will feel uncomfortable due to this.
- FIG. 26 shows a change in the total gain Gt * in the case where the yaw angle ⁇ of the vehicle changes in the process of the actual total gain Gt * gradually decreasing and the decrease in the total gain Gt * is intermittently limited.
- the reduction of the total gain Gt * is not limited from the time point t1 to the time point t2, but is necessary at other times.
- the total gain Gt * after the limit decreases at the same decrease rate as the actual total gain Gt * from the time point t1 to the time point t2, but at the time until the time point t1 and the time after the time point t2. In this case, it decreases at a reduction rate smaller than the actual total gain Gt *.
- the rate of decrease of the total gain Gt * after the restriction between the time point t1 and the time point t2 changes according to the absolute value of the yaw angle ⁇ .
- step 250 is performed.
- step 250 is performed.
- a negative determination is made. Therefore, the change in the total gain Gt * is not limited. (D2)
- the absolute value of the yaw angle ⁇ of the vehicle is smaller than the reference value ⁇ c
- step 230 a negative determination is made in step 230, and steps 240 to 280 are not executed. Therefore, even when the absolute value of the yaw angle ⁇ of the vehicle is larger than the reference value ⁇ c, the total value is the same as when the absolute value of the difference ⁇ Gt * of the total gain Gt * is equal to or less than the change limit value Gt * lim.
- the change in the gain Gt * is not limited. Therefore, the turning response of the vehicle in the situation where the magnitude of the yaw angle of the vehicle is small can be quickly changed according to the change in the width W or the curvature ⁇ of the travel path.
- the change limit value Gt * lim of the total gain Gt * is set to the absolute value of the yaw angle ⁇ so as to decrease as the absolute value of the yaw angle ⁇ increases. Calculated accordingly. Therefore, the rate of change of the total gain Gt * can be reduced as the magnitude of the yaw angle ⁇ is larger and the necessity for corrective steering is higher. Therefore, for example, compared to the case where the change limit value Gt * lim is constant regardless of the magnitude of the yaw angle ⁇ , the change in the total gain Gt * can be preferably increased or decreased according to the necessity of the correction steering.
- the map of the control road width Wc is set as a relationship with the distance in the traveling direction of the vehicle. Therefore, as compared with the case where the map of the width Wc of the control road is set as the relationship with the elapsed time, the calculation of the width W of the corrected road and the calculation based on this are also performed when the vehicle speed V changes.
- Each correction coefficient K * can be easily calculated.
- the correction of the width W of the travel path in step 80 of the fourth embodiment may be performed in the same manner as in the first correction example described above.
- the width W of the travel path after the correction decreases more quickly and gently than the actual width.
- Width W can be reduced.
- each step after step 240 is executed for each total gain, so that changes in all the total gains Gt * are limited.
- the limitation on the change of the gain Gt * may be corrected so as to be performed on a part of the gains Gty, Gtyd, Gtym, Gtg, Gtgd, and Gtgm calculated in Step 220.
- the first and third turning response variable means are the turning angle variable device 14 that changes the relationship of the steering angle of the front wheels with respect to the steering operation amount.
- the first and third turning response varying means may be an active stabilizer device, an active suspension, a device that changes the steering characteristic of the vehicle such as an active LSD, or any combination thereof.
- the first and third turning response varying means may be a device that gives a difference in the braking force or driving force of the left and right wheels.
- the first and third turning response varying means may be combined with the other devices or the turning angle varying device 14. And a combination of the above and other devices.
- the second and fourth turning response variable means are the rear wheel steering device 42 that changes the relationship of the steering angle of the rear wheel with respect to the steering angle of the front wheel.
- the second and fourth turning response varying means may be a device that gives a difference in braking force or driving force between the left and right rear wheels independently of the front wheels, and the left and right rear wheels independently of the front wheels.
- a combination of a device that gives a difference in braking force or driving force and the rear wheel steering device 42 may be used.
- the road information is specified by electronically processing the image information in front of the vehicle acquired by the CCD camera 68, and the specified road information and the vehicle speed V are determined. Is used to estimate the curvature ⁇ and the width W of the traveling road.
- the curvature and width of the travel path may be estimated based on information from the navigation device, or may be estimated based on travel path information transmitted wirelessly from the base station.
- the gain is controlled so that the gain Gay of the yaw rate ⁇ decreases and the gain Gag of the lateral acceleration Gy increases as the travel path width W decreases.
- the gain Gag may be modified so that the gain Gay decreases as the width W of the travel path decreases without changing the gain Gag.
- the gain Gag decreases as the width W of the travel path decreases without changing the gain Gay. May be modified so as to increase.
- the gain is controlled so that the differential gain Gayd of the yaw rate ⁇ decreases as the travel path width W decreases, and the differential gain Gagd of the lateral acceleration Gy increases.
- the differential gain Gagd may be modified so that the differential gain Gayd becomes smaller as the travel path width W is smaller without being changed, and the travel path width W is smaller without the differential gain Gayd being changed.
- the differential gain Gagd may be corrected so as to increase.
- the map of the control road width Wc is set as a relationship with the distance in the traveling direction of the vehicle.
- the map of the width Wc of the control road may be set as a relationship with the elapsed time.
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- Physics & Mathematics (AREA)
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
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Abstract
Description
特許文献1に記載された操舵制御装置に於いては、走行路幅が小さいときには走行路幅が大きいときに比して、操舵操作に対する車両のヨーレートのゲインが小さくされると共にヨーレートの微分ゲインが大きくされることにより、車両の狭路走行性が向上される。しかし、操舵操作が行われると、車両にヨーレートが発生するので、車両が走行路に対し傾斜する。
〔課題を解決するための手段及び発明の効果〕
〔課題解決手段の好ましい態様〕
[第一の実施形態]
γt={Ky・G+(1-G)}Gay0・θ
+{Kyd・G+(1-G)}Gayd0・θd
+{Kym・G+(1-G)}Gaym0・θd …(1)
Gyt={Kg・G+(1-G)}Gag0・θ
+{Kgd・G+(1-G)}Gagd0・θd
+{Kgm・G+(1-G)}Gagm0・θd …(2)
βt=∫{(Gyt/V)-γt}dt …(3)
(A1)曲率ρの絶対値が第一の基準値ρ1と第二の基準値ρ2との間にある場合
(A2)曲率ρの絶対値が第一の基準値ρ1以下である場合
(A3)曲率ρの絶対値が第二の基準値ρ2よりも大きい場合
(A4)ヨーレートγの減衰ゲイン及び横加速度Gyの減衰ゲイン
[第二の実施形態]
(B1)走行路の幅が急激に減少する場合
(B2)走行路の幅が急激に増大する場合
(B3)走行路の幅が急激に変化しない場合
[第三の実施形態]
(C1)走行路の曲率が増大する場合
(C2)走行路の曲率が減少する場合
(C3)走行路の曲率が変化しない場合
[第四の実施形態]
Gty={Ky・G+(1-G)}Gay0 …(5)
Gtyd={Kyd・G+(1-G)}Gayd0 …(6)
Gtym={Kym・G+(1-G)}Gaym0 …(7)
Gtg={Kg・G+(1-G)}Gag0 …(8)
Gtgd={Kgd・G+(1-G)}Gagd0 …(9)
Gtgm={Kgm・G+(1-G)}Gagm0 …(10)
γt=Gty・θ+Gtyd・θd+Gtym・θd …(11)
Gyt=Gtg・θ+Gtgd・θd+Gtgm・θd …(12)
(D1)車両のヨー角ψの絶対値が基準値ψcよりも大きい場合
(D2)車両のヨー角ψの絶対値が基準値ψcよりも小さい場合
Claims (14)
- 操舵操作に対する車両のヨーレートのゲインを変更する第一の旋回応答可変手段と、操舵操作に対する車両の横加速度のゲインを変更する第二の旋回応答可変手段と、前記第一及び第二の旋回応答可変手段を制御する制御手段とを有する車両用操舵制御装置に於いて、前記制御手段は、走行路の曲率の大きさが第一の基準値以下である状況に於いては、走行路の幅が小さいときには走行路の幅が大きいときに比して、前記ヨーレートのゲインに対する前記横加速度のゲインの比が大きくなるよう前記第一及び第二の旋回応答可変手段の少なくとも一方を制御することを特徴とする車両用操舵制御装置。
- 前記制御手段は、走行路の幅が小さくなるよう変化する状況に於いては、幅の変化が実際の走行路より早く且つ穏やかになるよう修正された制御用の走行路の幅に基づいて前記第一及び第二の旋回応答可変手段の少なくとも一方を制御することを特徴とする請求項1に記載の車両用操舵制御装置。
- 前記制御手段は、走行路の曲率が大きくなるよう変化する状況に於いては、曲率の変化が実際の走行路より早く且つ穏やかになるよう修正された制御用の走行路の曲率に基づいて前記第一及び第二の旋回応答可変手段の少なくとも一方を制御することを特徴とする請求項1記載の車両用操舵制御装置。
- 前記制御手段は、車両のヨー角の情報を取得し、車両のヨー角の大きさが大きいときには車両のヨー角の大きさが小さいときに比して、走行路の幅が変化することに伴う前記ヨーレートのゲイン及び前記横加速度のゲインの少なくとも一方の変化が穏やかになるよう、前記第一及び第二の旋回応答可変手段の少なくとも一方を制御することを特徴とする請求項1乃至3の何れか一つに記載の車両用操舵制御装置。
- 前記第一の旋回応答可変手段は、操舵操作量に対する前輪の舵角の関係を変化させることを特徴とする請求項1乃至4の何れか一つに記載の車両用操舵制御装置。
- 前記第一の旋回応答可変手段は、車両のステア特性を変化させることを特徴とする請求項1乃至4の何れか一つに記載の車両用操舵制御装置。
- 前記第二の旋回応答可変手段は、前輪の舵角に対する後輪の舵角の関係を変化させることを特徴とする請求項1乃至6の何れか一つに記載の車両用操舵制御装置。
- 操舵操作速度に対する車両のヨーレートの微分ゲインを変更する第三の旋回応答可変手段と、操舵操作速度に対する車両の横加速度の微分ゲインを変更する第四の旋回応答可変手段と、前記第三及び第四の旋回応答可変手段を制御する制御手段とを有する車両用操舵制御装置に於いて、前記制御手段は、走行路の曲率の大きさが第二の基準値以上である状況に於いては、走行路の幅が小さいときには走行路の幅が大きいときに比して、前記ヨーレートの微分ゲインに対する前記横加速度の微分ゲインの比が大きくなるよう前記第三及び第四の旋回応答可変手段の少なくとも一方を制御することを特徴とする車両用操舵制御装置。
- 前記制御手段は、走行路の幅が小さくなるよう変化する状況に於いては、幅の変化が実際の走行路より早く且つ穏やかになるよう修正された制御用の走行路の幅に基づいて前記第三及び第四の旋回応答可変手段の少なくとも一方を制御することを特徴とする請求項8に記載の車両用操舵制御装置。
- 前記制御手段は、走行路の曲率が大きくなるよう変化する状況に於いては、曲率の変化が実際の走行路より早く且つ穏やかになるよう修正された制御用の走行路の曲率に基づいて前記第三及び第四の旋回応答可変手段の少なくとも一方を制御することを特徴とする請求項8に記載の車両用操舵制御装置。
- 前記制御手段は、車両のヨー角の情報を取得し、車両のヨー角の大きさが大きいときには車両のヨー角の大きさが小さいときに比して、走行路の幅が変化することに伴う前記ヨーレートの微分ゲイン及び前記横加速度の微分ゲインの少なくとも一方の変化が穏やかになるよう、前記第三及び第四の旋回応答可変手段の少なくとも一方を制御することを特徴とする請求項8乃至10の何れか一つに記載の車両用操舵制御装置。
- 前記第三の旋回応答可変手段は、操舵操作量に対する前輪の舵角の関係を変化させることを特徴とする請求項8乃至11の何れか一つに記載の車両用操舵制御装置。
- 前記第三の旋回応答可変手段は、車両のステア特性を変化させることを特徴とする請求項8乃至11の何れか一つに記載の車両用操舵制御装置。
- 前記第四の旋回応答可変手段は、前輪の舵角に対する後輪の舵角の関係を変化させることを特徴とする請求項8乃至13の何れか一つに記載の車両用操舵制御装置。
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PCT/JP2012/067476 WO2014010015A1 (ja) | 2012-07-09 | 2012-07-09 | 車両用操舵制御装置 |
DE112012006679.0T DE112012006679B4 (de) | 2012-07-09 | 2012-07-09 | Fahrzeuglenksteuerungsvorrichtung |
CN201280074612.4A CN104470792A (zh) | 2012-07-09 | 2012-07-09 | 车辆用转向控制装置 |
US14/413,542 US9540039B2 (en) | 2012-07-09 | 2012-07-09 | Vehicle steering control device |
JP2014524510A JP5907266B2 (ja) | 2012-07-09 | 2012-07-09 | 車両用操舵制御装置 |
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JP (1) | JP5907266B2 (ja) |
CN (1) | CN104470792A (ja) |
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CN104470792A (zh) * | 2012-07-09 | 2015-03-25 | 丰田自动车株式会社 | 车辆用转向控制装置 |
DE102013009252A1 (de) * | 2013-06-03 | 2014-12-04 | Trw Automotive Gmbh | Steuergerät und Verfahren für eine Notfall-Lenkunterstützungsfunktion |
JP6202480B1 (ja) * | 2016-04-22 | 2017-09-27 | マツダ株式会社 | 車両用挙動制御装置 |
JP6642332B2 (ja) * | 2016-08-23 | 2020-02-05 | 株式会社デンソー | 運転支援制御装置 |
KR102277285B1 (ko) * | 2017-06-30 | 2021-07-14 | 현대모비스 주식회사 | 후륜 조향 제어 장치 및 방법 |
JP7081117B2 (ja) * | 2017-11-06 | 2022-06-07 | いすゞ自動車株式会社 | 操舵制御装置及び操舵制御方法 |
CN109154821B (zh) * | 2017-11-30 | 2022-07-15 | 深圳市大疆创新科技有限公司 | 轨迹生成方法、装置和无人驾驶地面车辆 |
US10689029B2 (en) | 2018-04-12 | 2020-06-23 | Cnh Industrial America Llc | Four-wheel steering with front/rear matching geometries |
JP7412209B2 (ja) * | 2020-02-17 | 2024-01-12 | 株式会社Subaru | 車両のレーンキープ制御装置 |
CN112046607B (zh) * | 2020-09-11 | 2021-11-02 | 中国第一汽车股份有限公司 | 一种车辆驾驶中横摆调整方法、装置、车辆及介质 |
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- 2012-07-09 DE DE112012006679.0T patent/DE112012006679B4/de not_active Expired - Fee Related
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Also Published As
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DE112012006679T5 (de) | 2015-04-16 |
JPWO2014010015A1 (ja) | 2016-06-20 |
DE112012006679B4 (de) | 2017-07-06 |
US20150307125A1 (en) | 2015-10-29 |
JP5907266B2 (ja) | 2016-04-26 |
US9540039B2 (en) | 2017-01-10 |
CN104470792A (zh) | 2015-03-25 |
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