WO2019065289A1 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- WO2019065289A1 WO2019065289A1 PCT/JP2018/034093 JP2018034093W WO2019065289A1 WO 2019065289 A1 WO2019065289 A1 WO 2019065289A1 JP 2018034093 W JP2018034093 W JP 2018034093W WO 2019065289 A1 WO2019065289 A1 WO 2019065289A1
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- WIPO (PCT)
- Prior art keywords
- steering
- vehicle
- control device
- force
- torque
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims description 29
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 239000000725 suspension Substances 0.000 abstract description 96
- 239000006096 absorbing agent Substances 0.000 abstract description 29
- 230000035939 shock Effects 0.000 abstract description 29
- 238000013016 damping Methods 0.000 abstract description 21
- 230000001629 suppression Effects 0.000 description 23
- 230000006399 behavior Effects 0.000 description 21
- 230000001133 acceleration Effects 0.000 description 13
- 238000004364 calculation method Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000003381 stabilizer Substances 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000006557 surface reaction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
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- 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
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- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
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- 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
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- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
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- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
- B60G17/0163—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking the control involving steering geometry, e.g. four-wheel steering
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- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
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- 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
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- 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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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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
- B62D6/06—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle vibration dampening arrangements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- B60G2500/10—Damping action or damper
Definitions
- the present invention relates to a vehicle control device mounted on a vehicle such as a car.
- Patent Document 1 describes a steering operation characteristic control device that changes a steering operation characteristic according to the degree of unevenness (the degree of rough road surface) of a traveling road surface.
- the steering operation characteristic control device calculates the degree of bad road surface from the vehicle height information, and when it is determined that the road is a rough road, the steering operation characteristic is properly made by reducing the steering sensitivity in the region where the steering operation amount is small. Control.
- unnecessary vibration may be transmitted from the road surface to the steering wheel (handle).
- unnecessary vibration steering vibration
- this configuration if the steering vibration is to be sufficiently reduced, the resistance to the steering speed is increased and the steering force is increased, so there is a possibility that the reduction of the steering vibration and the steering assist can not be compatible.
- An object of the present invention is to provide a vehicle control device capable of appropriately assisting at the time of steering while reducing steering vibration.
- a vehicle control apparatus includes a force generation mechanism provided between a vehicle body side and a wheel side of the vehicle and capable of adjusting a generated force, and generation of the force generation mechanism based on vehicle body behavior information. And a force generation mechanism control unit that calculates and controls a force, wherein the force generation mechanism control unit detects a vehicle height information detection unit that detects vehicle height information of the vehicle, and a detection value of the vehicle height information detection unit. And a steering torque generating unit for calculating a steering generated vibration and generating a steering torque for reducing the generated vibration.
- the vehicle control device can appropriately assist during steering while reducing steering vibration.
- FIG. 2 is a block diagram showing the suspension control device in FIG. 1 together with a steering control device and the like.
- FIG. 3 is a block diagram showing a suspension control device in FIG. 2;
- a vehicle body 1 constitutes a body of a vehicle.
- front wheels 2 FL, FR
- rear wheels 3 RL, RR
- the right side of the figure is shown as the front side of the vehicle, the left side of the figure as the rear side of the vehicle, the upper side of the figure as the left side of the vehicle, and the lower side of the figure as the right side of the vehicle.
- the left front wheel suspension device 4 is provided between the left front wheel 2 (FL) side and the vehicle body 1.
- the right front wheel suspension device 4 is provided between the right front wheel 2 (FR) side and the vehicle body 1.
- the left rear wheel suspension device 5 is provided between the left rear wheel 3 (RL) side and the vehicle body 1.
- the right rear wheel suspension device 5 is provided between the right rear wheel 3 (RR) side and the vehicle body 1.
- Suspension devices 4 and 5 respectively include suspension springs (springs) such as coil springs (not shown), and shock absorbers 6 provided in parallel relationship with the suspension springs between the vehicle body 1 side and the wheels 2 and 3 side. Is composed including.
- the shock absorber 6 is also referred to as a shock absorber, and is configured as a hydraulic damping force adjustable shock absorber capable of adjusting the generated damping force. In this case, the shock absorber 6 continuously adjusts the characteristics of the generated damping force (damping force characteristics) from hard characteristics (hard characteristics) to soft characteristics (soft characteristics).
- the actuator (not shown) which consists of etc. is attached.
- the shock absorber 6 is configured by a semi-active damper that controls the flow of the working fluid by an actuator. That is, the shock absorber 6 is a force generating mechanism capable of adjusting the force generated between the vehicle body 1 side and the wheels 2 and 3 side of the vehicle.
- the damping force adjustment actuator of the shock absorber 6 does not have to be configured to change the damping force characteristics continuously, but is configured to adjust intermittently (stepwise) in a plurality of two steps or three or more steps. It may be. Further, the shock absorber 6 only needs to be able to switch the damping force, and may be an ER damper (electro-rheological fluid damper), a pneumatic damper, or an electromagnetic damper. In other words, the shock absorber 6 is not limited to a damper that generates a force (damping force) actively, that is, a semi-active damper (semi-active suspension device) capable of semi-active control.
- a full active damper capable of full active control
- a drive cylinder hydroaulic cylinder, air cylinder
- a force generation mechanism an air suspension device having an air spring, a kinetic suspension device capable of adjusting the effectiveness of a stabilizer, an electromagnetic suspension device having an electromagnetic actuator, a hydraulic suspension device in which hydraulic cylinders in front, rear, left and right are connected by piping
- a force generation mechanism an air suspension device having an air spring, a kinetic suspension device capable of adjusting the effectiveness of a stabilizer, an electromagnetic suspension device having an electromagnetic actuator, a hydraulic suspension device in which hydraulic cylinders in front, rear, left and right are connected by piping
- Various force generation mechanisms can be employed.
- the actuator of the shock absorber 6 is connected to the suspension control device 7.
- the damping force which is a generated force
- a current command current
- the damping force characteristic is variably adjusted by driving the actuator according to this current.
- the suspension control device 7 includes, for example, a microcomputer, a drive circuit, a power supply circuit, and the like.
- the suspension control device 7 has, for example, a memory (not shown) including a flash memory, a ROM, a RAM, an EEPROM and the like in addition to an arithmetic unit (CPU).
- the memory stores, for example, a processing program for calculating a damping force to be output by the shock absorber 6, a processing program for calculating a torque control command to be output to a steering control device 16 described later, and the like.
- the suspension control device 7 as a force generation mechanism control unit calculates and controls the generated force (damping force) of the shock absorber 6 based on the vehicle body behavior information.
- the suspension control device 7 is connected to a vehicle height sensor 8 that detects vehicle behavior information.
- the vehicle height sensor 8 detects the vehicle height state (height position) of the vehicle in the vicinity of each shock absorber 6. That is, the vehicle height sensors 8 are attached to the vehicle body 1 at positions near the shock absorber 6 (that is, at the four corners of the vehicle).
- Each vehicle height sensor 8 detects the vehicle height at each of the four corners of the vehicle, and outputs a detection signal (vehicle height information) to the suspension control device 7.
- the vehicle height sensor 8 constitutes a vehicle behavior detection unit (vehicle behavior detection unit) that detects the vehicle height state of the vehicle body 1 (more specifically, the state quantity related to the vertical movement of the vehicle) which becomes the vehicle behavior. There is.
- the vehicle height sensor 8 constitutes a vehicle height information detection unit that detects the vehicle height information of the vehicle (the vehicle body 1) together with the suspension control device 7.
- the vehicle height information detection unit is not limited to the four vehicle height sensors 8 provided in the vicinity of the shock absorber 6, for example, four sprung acceleration sensors and four unsprung accelerations. You may comprise by a sensor. Moreover, you may comprise only four spring top acceleration sensors. In addition, a wheel speed sensor (not shown) that detects the rotational speed of the wheels 2 and 3, a sensor that detects the vehicle height state (state quantity corresponding to the vehicle other than the vehicle height sensor 8 and the acceleration sensor) A detection sensor may be used.
- the vehicle height state of the vehicle It may be configured to detect (vertical movement). Furthermore, sensors such as a lateral acceleration sensor that detects the lateral acceleration of the vehicle, and a longitudinal acceleration sensor that detects the longitudinal acceleration of the vehicle, that is, various sensors that detect the state quantity of the vehicle body 1 that becomes the spring of the vehicle Sensors) may be used.
- a sensor vehicle body behavior detection sensor
- vehicle body behavior detection sensor that detects various vehicle behavior (state amount corresponding to the vehicle height condition) including the vehicle height condition of the vehicle can be used.
- the vehicle height information detection unit may be configured of, for example, an external world recognition sensor (not shown).
- the external world recognition sensor constitutes, for example, an object position measurement device that measures the position of an object around the vehicle, and for example, a stereo camera, a camera such as a single camera (for example, digital camera), and / or a laser radar, A radar such as an infrared radar or a millimeter wave radar (for example, a light emitting element such as a semiconductor laser and a light receiving element for receiving the light) can be used.
- the external world recognition sensor is not limited to the camera and the radar, and various sensors (detection device, measuring device, radio wave detector) capable of recognizing (detecting) the state of the external world surrounding the vehicle can be used.
- the suspension control device 7 is configured to acquire the vehicle body behavior information by the vehicle height sensor 8 directly connected to the suspension control device 7.
- the suspension control device 7 may be configured to acquire vehicle body behavior information via the vehicle data bus 9.
- the vehicle data bus 9 is a communication line connecting the various ECUs (Electronic Control Units) including the suspension control device 7 and a steering control device 16 described later, and can be CAN (Controller) as a serial communication unit mounted on the vehicle body 1 Area network).
- the suspension control device 7 uses various vehicle behavior information such as vertical acceleration, vehicle speed, longitudinal acceleration, lateral acceleration, etc. as well as vehicle height as vehicle behavior information used to calculate the generated force of the shock absorber 6 Vehicle behavior information can be used.
- the steering device 10 applies a steering angle to the left and right front wheels 2 and 2 to be steered wheels in accordance with the steering operation of the driver.
- the steering device 10 is configured as an electric power steering device that assists (assists) the steering operation force of the driver with the electric motor 13.
- the steering device 10 is configured to include a steering wheel 11, a steering shaft 12, an electric motor 13, a reduction gear 14, a torque sensor 15, and a steering control device 16 as a steering control unit.
- the steering wheel 11 is also called a steering wheel, and is operated by the driver.
- the steering shaft 12 extends in the front-rear direction of the vehicle, and a steering wheel 11 is attached to the rear end side.
- the electric motor 13 is a generation source of the assist force, and is rotationally driven by the power supplied from the steering control device 16. That is, the electric motor 13 applies a steering torque (assist torque) to the steering shaft 12 in accordance with the current (command current) supplied from the steering control device 16.
- the reduction gear 14 is constituted by, for example, a worm reduction gear, and decelerates the rotation of the electric motor 13 and transmits it to the steering shaft 12.
- the torque sensor 15 detects a steering torque (steering torque) applied to the steering shaft 12 by the steering operation force of the driver. In this case, the torque sensor 15 can detect the steering torque from the amount of torsion of a torsion bar (not shown) that constitutes the steering shaft 12, for example.
- the torque sensor 15 is connected to the steering control device 16.
- the steering control device 16 includes, for example, a microcomputer, a drive circuit, a power supply circuit, and the like.
- the steering control device 16 has, for example, a memory (not shown) including a flash memory, a ROM, a RAM, an EEPROM, etc. in addition to an arithmetic unit (CPU).
- a processing program for calculating a steering torque (assist torque) to be output from the electric motor 13 is stored in the memory.
- the steering control device 16 controls the drive of the electric motor 13 based on the steering torque detected by the torque sensor 15. That is, the steering control device 16 calculates a control command value corresponding to the torque (assist torque) to be applied to the steering shaft 12 based on the detection value (steering torque) of the torque sensor 15. The steering control device 16 supplies the electric motor 13 with a current according to the calculated control command value.
- a torque control command is input to the steering control device 16 from the suspension control device 7.
- the steering control device 16 drives the electric motor 13 in consideration of the torque control command from the suspension control device 7. That is, in the embodiment, the suspension control device 7 can control the steering device 10.
- the suspension control device 7 is connected to the steering control device 16 of the steering device 10 via the vehicle data bus 9.
- the steering angle is detected by the steering angle sensor, and the steering speed is calculated by differentiating the detected steering angle. Then, it is conceivable to reduce the steering angle vibration by multiplying the steering speed by a gain so as to reduce the steering speed and generating a torque from the electric motor of the electric power steering apparatus as the target torque.
- FB control feedback control
- the steering vibration can not be sufficiently reduced due to the delay of the system.
- the steering vibration is to be sufficiently reduced, the resistance to the steering speed is increased, and the steering force is increased. Therefore, there is a possibility that the reduction of the steering vibration and the steering assist can not be compatible.
- a difference occurs in the lateral force of the left and right wheels 2, 2 (3, 3), which may cause a vehicle yaw motion. That is, in the case of different road surface inputs to the left and right wheels 2, 2 (3, 3), a difference occurs in the lateral force of the left and right wheels 2, 2 (3, 3), and a vehicle yaw motion occurs.
- the wheels 2 and 2 (3, 3) change the toe angle with the road surface and the camber angle, and the lateral forces of the respective wheels 2 and 2 (3, 3) are generated independently.
- the suspension control device 7 is configured to control the steering device 10 using suspension information (vehicle body behavior information).
- the suspension controller 7 uses the suspension information (vehicle height information) to reduce (reduce) the steering vibration signal (vibration cancellation signal) and reduce the vehicle yaw motion (yaw motion (yaw motion) The reduced vibration is generated and this signal is output to the steering control device 16 of the steering device 10.
- the suspension control device 7 calculates the generated vibration of the steering (more specifically, the steering wheel 11) based on the detection value (vehicle height) of the vehicle height sensor 8.
- the suspension control device 7 calculates a steering torque (vibration cancellation torque) for offsetting (reducing) the generated vibration from the calculated generated vibration, and generates a signal (torque control command) for generating the steering torque.
- a signal generated by the suspension control device 7, that is, “a signal for generating a steering torque that cancels out the generated vibration of the steering” is output from the suspension control device 7 to the steering control device 16.
- steering vibration can be suppressed.
- the steering vibration caused by the road surface input is calculated from the vehicle height information (vehicle height, relative speed, etc.) which is the stroke information of the suspension, and the vibration is canceled by the FF control (feed forward control). Generates steering torque.
- the term “cancellation” not only completely cancels the vibration but also includes the case of reducing or reducing the steering vibration.
- the suspension control device 7 calculates the lateral force generated by the change in geometry of the suspension devices 4 and 5 based on the detection value (vehicle height) of the vehicle height sensor 8, and based on the calculated lateral force, the left and right wheels 2 , 2 (3, 3) to calculate (estimate, predict) the vehicle yaw motion based on the difference in lateral force.
- the suspension control device 7 calculates a steering torque (unnecessary motion suppression torque) for suppressing the vehicle yaw motion from the calculated (estimated, predicted) vehicle yaw motion, and generates a signal (torque control command) for generating the steering torque.
- the lateral force change generated by the geometry change is calculated from the stroke information and the steering angle information of the suspension, and the steering torque is generated based on the value to suppress the yaw change caused due to the road surface input.
- the yaw motion of the vehicle resulting from the road surface input is calculated from the vehicle height information (vehicle height, relative velocity, etc.) which is the stroke information of the suspension, and the yaw motion is performed by FF control (feed forward control). Generates a steering torque that suppresses This can reduce the yawing motion and the steering wheel kickback of the vehicle.
- FIG. 2 shows the suspension control device 7 together with the steering control device 16 and the like.
- the suspension control device 7 calculates a torque control command (that is, a steering torque command corresponding to the vibration cancellation torque and the unnecessary motion suppression torque) based on the acquired vehicle height information, and the calculated torque control The command is output to the steering control device 16.
- the steering control device 16 calculates a control command value (that is, a steering torque command value corresponding to the assist torque to be applied to the steering shaft 12) based on the steering torque detected by the torque sensor 15.
- the steering control device 16 adds the “calculated control command value” and the “torque control command from the suspension control device 7” to the steering torque (final steering torque) to be finally output from the electric motor 13 Calculate the corresponding torque final command value.
- the steering control device 16 controls the steering device 10 by outputting a current to the electric motor 13 based on the calculated torque final command value.
- FIG. 3 shows the suspension control device 7.
- the suspension control device 7 includes a suspension control unit 7A and a torque control command generation unit 7B.
- the suspension control unit 7A controls the current supplied to the actuator of the shock absorber 6.
- the suspension control unit 7A includes a ride comfort / steering stability control unit 7A1.
- the input side of the ride comfort / steering stability control unit 7A1 is connected to a vehicle height sensor 8.
- the output side of the riding comfort / steering stability control unit 7A1 is connected to the actuator of the shock absorber 6.
- Vehicle height information from the vehicle height sensor 8 is input to the ride comfort / steering stability control unit 7A1.
- the ride comfort / steering stability control unit 7A1 calculates the vehicle behavior (vehicle behavior) using the vehicle height information.
- the ride comfort / steering stability control unit 7A1 calculates the target damping force using, for example, the skyhook control law to improve the ride comfort and the steering stability performance, and the target current value so that the target damping force is generated. Calculate The ride comfort / steering stability control unit 7A1 outputs a current (command current) corresponding to the calculated target current value to the actuator of the buffer 6.
- the control law for calculating the target damping force is not limited to skyhook control, and feedback control such as optimum control or H ⁇ control can be used, for example.
- the target damping force is used as the control command, a target damping coefficient may be used.
- the torque control command generation unit 7 B calculates a torque control command to be output to the steering control device 16 based on the vehicle height information, and outputs the calculated torque control command to the steering control device 16.
- the torque control command is a command (signal) for generating "steering torque for reducing steering vibration" and "steering torque for suppressing vehicle yaw motion" from the electric motor 13 of the steering device 10.
- the torque control command generation unit 7B calculates the generated vibration of the steering, and generates a steering torque that cancels the generated vibration.
- a generation unit (vibration reduction torque generation unit) is configured.
- the torque control command generation unit 7B includes a road surface input-induced steering vibration calculation unit 7B1 and a road surface disturbance cancellation control gain multiplication unit 7B2.
- the torque control command generation unit 7B calculates the lateral force generated by the geometry change of the suspension devices 4 and 5, and the vehicle yaw based on this lateral force.
- a steering torque generation unit (unnecessary motion suppression torque generation unit) that generates a signal that generates a steering torque that suppresses movement is configured.
- the torque control command generation unit 7B includes a toe angle change calculation unit 7B3, respective wheel lateral force estimation units 7B4, a yaw change estimation unit 7B5, and a yaw change suppression control gain multiplication unit 7B6. Further, the torque control command generation unit 7B includes an addition unit 7B7.
- the road surface input-induced steering vibration calculation unit 7B1 calculates a steering vibration caused by the road surface input.
- the steering vibration caused by the road surface input is generated according to the difference (left-right difference) of the vehicle heights of the left and right front wheels 2, 2.
- the road surface input-induced steering vibration calculation unit 7B1 calculates the difference between the left and right vehicle heights (the difference between the vehicle heights of the left and right front wheels 2, 2) from the vehicle height information obtained from the vehicle height sensor 8.
- the relative velocity difference is calculated by differentiating the difference.
- the relative speed difference calculated by the road surface input-induced steering vibration calculation unit 7B1 is output to the road surface disturbance cancellation control gain multiplication unit 7B2.
- the road surface disturbance cancellation control gain multiplication unit 7B2 calculates a road surface disturbance cancellation control command by multiplying the relative speed difference by the road surface cancellation control gain.
- the road surface cancellation control gain is obtained in advance by calculation, experiment, simulation, or the like, for example, so that the road surface disturbance cancellation control command becomes a command that can cancel the steering vibration.
- the road surface disturbance cancellation control gain multiplication unit 7B2 outputs the calculated road surface disturbance cancellation control command (that is, a steering torque command corresponding to the vibration cancellation torque) to the addition unit 7B7.
- the yaw change of the vehicle caused by the road surface input changes the toe angle of the wheels 2 and 3 due to the change of the stroke of the vehicle height (suspension devices 4 and 5) due to the road surface input.
- a tire side slip angle is generated on the wheels 2 and 3 and a tire lateral force is generated.
- the toe angle change with respect to the left and right stroke is the same, and the lateral force is canceled by the left and right, so that no yaw change occurs.
- the toe angle change calculation unit 7B3 calculates the toe angle change based on the suspension geometry information from the left and right vehicle height information obtained from the vehicle height sensor 8.
- the toe angle change calculated by the toe angle change calculator 7B3 is output to each wheel lateral force estimator 7B4.
- each wheel lateral force estimation unit 7B4 calculates the lateral force based on the change in toe angle.
- the camber angle is calculated from the sum of the roll angle and the change in suspension camber angle, and the lateral force estimating unit 7B4 calculates the canvas last of each wheel.
- Each wheel lateral force estimation unit 7B4 outputs the lateral force of each wheel thus calculated to the yaw change estimation unit 7B5.
- the lateral forces calculated by the respective wheel lateral force estimation units 7B4 are added together for each wheel, and the yaw moment around the center of gravity is calculated from this lateral force.
- the yaw moment calculated by the yaw change estimation unit 7B5 is output to the yaw change suppression control gain multiplication unit 7B6.
- the yaw change suppression control gain multiplication unit 7B6 multiplies the yaw moment by the yaw change suppression control gain to calculate a yaw change suppression control command proportional to the yaw moment calculated by the yaw change estimation unit 7B5.
- the yaw change suppression control gain is obtained in advance by, for example, calculation, experiment, simulation or the like so that the yaw change suppression control command becomes a command capable of suppressing the yaw change of the vehicle.
- the yaw change suppression control gain multiplication unit 7B6 outputs the calculated yaw change suppression control command (that is, a steering torque command corresponding to the unnecessary motion suppression torque) to the addition unit 7B7.
- the road surface disturbance cancellation control command and the yaw change suppression control command are input to the addition unit 7B7.
- the addition unit 7B7 calculates a torque control command to be output to the steering control device 16 by adding the road surface disturbance cancellation control command and the yaw change suppression control command.
- the adder 7B7 outputs the calculated torque control command to the steering control device 16.
- the vehicle control device has the above-described configuration. Next, control processing of the shock absorber 6 by the suspension control device 7 and control processing of the steering device 10 will be described.
- a detection signal corresponding to the vehicle height is input to the suspension control device 7 from a vehicle height sensor 8 provided corresponding to each of the suspension devices 4 and 5.
- the suspension control unit 7A (ride comfort / steering stability control unit 7A1) of the suspension control device 7 calculates a target damping force from the vehicle height information using a skyhook control law or the like to generate a target damping force.
- Calculate the target current required for The suspension control device 7 outputs a current corresponding to the calculated target current to the actuator of the buffer 6.
- the damping force characteristic of the shock absorber 6 is varied continuously between the hard characteristic (hard characteristic) and the soft characteristic (soft characteristic).
- the torque control command generation unit 7B of the suspension control device 7 calculates a torque control command to be output to the steering control device 16 of the steering device 10 from the vehicle height information.
- the road surface disturbance cancellation control command is calculated by the road surface input-induced steering vibration calculation unit 7B1 and the road surface disturbance cancellation control gain multiplication unit 7B2.
- the yaw change suppression control command is calculated by the toe angle change calculation unit 7B3, each wheel lateral force estimation unit 7B4, the yaw change estimation unit 7B5, and the yaw change suppression control gain multiplication unit 7B6.
- the steering control device 16 applies the steering torque (that is, the vibration cancellation torque and the unnecessary motion suppression torque) according to the torque control command from the suspension control device 7 from the electric motor 13 of the steering device 10 to the steering shaft 12 can do.
- the torque control command generation unit 7B of the suspension control device 7 calculates the generated vibration of the steering based on the vehicle height information of the vehicle. That is, since the unnecessary steering vibration caused by the road surface input is generated according to the difference between the left and right wheels (the difference between the front wheels 2 and 2), the torque control command generator 7B The generated vibration of the steering is calculated based on the vehicle height information. Then, the torque control command generation unit 7B generates, from the calculated generated vibration, a signal for generating a steering torque that cancels the generated vibration, that is, a road surface disturbance cancellation control command.
- the generated signal is offset from the electric motor 13 of the electric power steering device 10 by outputting the generated signal to the electric power steering device 10 that assists the driver's steering operation force with the electric motor 13.
- the steering torque can be output.
- the electric motor 13 of the electric power steering device 10 can output "a steering torque that cancels the generated vibration caused by the road surface input" and "a steering torque that assists the driver's steering operation". Thus, steering vibration can be suppressed.
- the torque control command generation unit 7B of the suspension control device 7 calculates the yaw moment (yaw change) of the vehicle based on the vehicle height information of the vehicle. That is, since the unnecessary vehicle yaw motion caused by the road surface input is generated according to the geometry change of the suspension devices 4 and 5 based on the road surface input, the torque control command generating unit 7B is based on the vehicle height information of the vehicle. And calculate the yaw moment (yaw change). Then, the torque control command generation unit 7B generates, from the calculated yaw moment (yaw change), a signal for generating a steering torque that suppresses the yaw moment (yaw change), that is, a yaw change suppression control command.
- the electric motor 13 of the electric power steering apparatus 10 suppresses the change of the vehicle yaw by outputting the generated signal to the electric power steering apparatus 10 that assists the driver's steering operation force with the electric motor 13. Steering torque can be output.
- the electric motor 13 of the electric power steering device 10 can output "a steering torque that cancels a change in the vehicle yaw caused by the road surface input" and "a steering torque that assists the driver's steering operation".
- the vibration can be reduced by the steering torque by the electric power steering device 10.
- the vehicle height information detection unit for detecting the vehicle height information of the vehicle is configured by the vehicle height sensor 8
- the present invention is not limited to this, and the vehicle height information detection unit may be configured by, for example, an external world recognition sensor such as a camera or a radar.
- an external world recognition sensor such as a camera or a radar.
- a change in the height of the vehicle can be detected before the change. That is, the generated vibration of the steering can be calculated (predicted) before the generated vibration, and the steering vibration can be suppressed with a higher dimension.
- the suspension control device 7 calculates the torque control command (signal for generating steering torque for reducing steering vibration, signal for generating steering torque for reducing yaw motion of the vehicle) from vehicle height information.
- the vehicle height information may be input to the steering control device of the steering device without calculating the torque control command by the suspension control device, and the vehicle height information may be input by the steering control device.
- the torque control command may be calculated.
- the suspension control device and the steering control device may be integrated.
- the suspension control device 7 and the steering control device 16 are connected via the vehicle data bus 9 which is also connected to other ECUs.
- the present invention is not limited to this.
- the suspension control device and the steering control device may be connected by these dedicated communication lines.
- the torque control command generation unit 7B of the suspension control device 7 calculates both the road surface disturbance cancellation control command for canceling the steering vibration and the yaw change suppression control command for suppressing the yaw change of the vehicle (
- the case where the configuration is made to be generated has been described as an example.
- the present invention is not limited to this, for example, a configuration in which the suspension control device calculates (generates) only one of them, ie, calculates (generates) a road surface disturbance cancellation control command, or calculates a yaw change suppression control command. It may be configured to (generate).
- the electric power steering device 10 assisting (assisting) the steering operation force of the driver with the electric motor 13 has been described as an example. That is, in the embodiment, the case where the electric power steering apparatus 10 for assisting the steering force is configured to be controlled by the suspension control apparatus 7 has been described as an example.
- the present invention is not limited to this.
- a steering control device for a steer-by-wire vehicle may be controlled by a suspension control device.
- the suspension control device can be configured as follows. That is, the suspension control device calculates a steering reaction force to be transmitted to the driver based on the detection value of the vehicle height information detection unit. The suspension control device calculates a steering torque (road surface reaction torque) corresponding to the calculated steering reaction force, and generates a signal for generating the steering torque.
- a steer-by-wire it is conceivable to adopt a configuration capable of changing the steering characteristic (road surface reaction force characteristic), for example, a configuration capable of switching the steering mode from the normal mode to another mode such as a sport mode. . That is, a plurality of steering modes may be switchable, and the steering characteristic (steering reaction force) may be changed according to the switched steering mode.
- the sport mode when the sport mode is selected, dynamic steering feeling can be obtained by increasing the feedback of the road surface input.
- the force generation mechanism is the shock absorber 6, that is, the case where the force generation mechanism is a hydraulic semi-active damper
- the force generation mechanism may be, for example, another type of semi-active damper such as an ER damper (electro-rheological fluid damper).
- the force generation mechanism adopts various force generation mechanisms such as, for example, a hydraulic actuator of a full active damper, an air spring of an air suspension device, a stabilizer and an actuator for adjusting the effectiveness of the stabilizer, and a linear motor constituting an electromagnetic suspension. can do.
- the electric power steering apparatus has been described as an example of the power steering apparatus, but a hydraulic power steering apparatus may be used. In that case, the torque is generated by the hydraulic pump.
- a force generation mechanism provided between the vehicle body side and the wheel side of the vehicle and capable of adjusting the generated force, and the generated force of the force generation mechanism are calculated based on the vehicle body behavior information.
- a force generation mechanism control unit for controlling the generation force wherein the force generation mechanism control unit detects a height information of the vehicle and a height information detection unit; and a detection value of the height information detection unit.
- a steering torque generating unit that calculates a steering generated vibration and generates a steering torque that reduces the generated vibration.
- the steering torque generation unit of the force generation mechanism control unit calculates the generated vibration of the steering based on the vehicle height information of the vehicle. That is, since the steering vibration caused by the road surface input is generated according to the difference between the left and right wheels (the difference between the left and right vehicle heights), the steering torque generating unit generates the steering vibration based on the vehicle height information of the vehicle. Calculate Then, the steering torque generation unit generates a steering torque that reduces the generated vibration from the calculated generated vibration. For example, a signal that generates a steering torque that reduces the generated vibration is generated.
- a steering torque that reduces generated vibration from the electric motor of the electric power steering apparatus Steering torque can be output.
- the electric motor of the electric power steering apparatus can output "a steering torque that cancels the generated vibration caused by the road surface input” and "a steering torque that assists the driver's steering operation".
- steering vibration can be suppressed.
- the vehicle height information detection unit is an external world recognition sensor.
- the second aspect it is possible to detect up-and-down changes, ruts, and irregularities of the road surface in the traveling direction of the vehicle by the external world recognition sensor. Thereby, a change in the height of the vehicle can be detected before the change. That is, the generated vibration of the steering can be calculated (predicted) before the generated vibration, and the steering vibration can be suppressed with a higher dimension.
- the steering torque generation unit uses the vehicle height information from the vehicle height information detection unit to reduce the generated vibration of the steering. Generating a signal for reducing the yawing of the vehicle and generating a steering torque for controlling the steering.
- the steering is a power steering apparatus that is power assisted by electric or hydraulic power
- a steering torque generated by the power steering apparatus is: It cancels the yawing motion caused by the road surface input and generates a force for assisting the driver's steering operation.
- the steering torque generation unit calculates a lateral force generated by a change in geometry of the force generation mechanism based on the vehicle height information of the vehicle height information detection unit, The yaw motion of the vehicle is calculated or predicted from the calculated lateral force.
- the steering is a power steering apparatus powered by electric or hydraulic power, and the power steering apparatus controls a steering torque.
- the steering control unit includes the steering torque generating unit in place of the force generating mechanism control unit, and the steering torque generating unit of the steering control unit includes the vehicle height information detecting unit.
- a signal for reducing the generated vibration of the steering and a signal for reducing the yawing motion of the vehicle are generated using the vehicle height information according to B.
- the steering torque for controlling the steering is generated.
- the steering is configured of a steer-by-wire system, and the steering torque generation unit is based on a detection value of the vehicle height information detection unit. Steering reaction force to be transmitted to the driver.
- the steering reaction force is switched by changing a plurality of steering modes.
- the present invention is not limited to the above-described embodiment, but includes various modifications.
- the above-described embodiment is described in detail to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the described configurations.
- part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.
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Abstract
Description
Claims (8)
- 車両制御装置であって、該車両制御装置は、
車両の車体側と車輪側との間に設けられ発生する力を調整可能な力発生機構と、
車体挙動情報に基づいて前記力発生機構の発生力を算出して該発生力を制御する力発生機構制御部と、を備え、
前記力発生機構制御部は、
車両の車高情報を検出する車高情報検出部と、
前記車高情報検出部の検出値に基づいて、ステアリングの発生振動を算出し、該発生振動を低減させるステアリングトルクを発生させるステアリングトルク発生部と、
を有することを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記車高情報検出部は、外界認識センサであることを特徴とする車両制御装置。 - 請求項1または2のいずれかに記載の車両制御装置において、
前記ステアリングトルク発生部は、前記車高情報検出部による車高情報を用いて、前記ステアリングの発生振動を低減する信号と、車両のヨー運動を低減する信号とを生成し、前記ステアリングを制御するステアリングトルクを発生させることを特徴とする車両制御装置。 - 請求項1乃至3のいずれか1項に記載の車両制御装置において、
前記ステアリングは、電動または油圧によりパワーアシストされるパワーステアリング装置であり、
該パワーステアリング装置によって発生するステアリングトルクは、路面入力に起因する前記ヨー運動を打ち消し、かつ運転者によるステアリング操作をアシストする力を発生させることを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記ステアリングトルク発生部は、前記車高情報検出部の車高情報に基づいて、前記力発生機構のジオメトリ変化によって発生する横力を算出し、該算出した横力から、前記車両のヨー運動を算出、または予測することを特徴とする車両制御装置。 - 請求項1または2のいずれか1項に記載の車両制御装置において、
前記ステアリングは、電動または油圧によりパワーアシストされるパワーステアリング装置であり、該パワーステアリング装置は、ステアリングトルクを制御するステアリング制御部を備えており、
前記ステアリング制御部は、前記力発生機構制御部に代えて、前記ステアリングトルク発生部を有しており、
前記ステアリング制御部の前記ステアリングトルク発生部は、前記車高情報検出部による車高情報を用いて、前記ステアリングの発生振動を低減する信号と、車両のヨー運動を低減する信号とを生成し、前記ステアリングを制御するステアリングトルクを発生させることを特徴とする車両制御装置。 - 請求項1乃至6のいずれか1項に記載の車両制御装置において、
前記ステアリングは、ステアバイワイヤシステムで構成され、前記ステアリングトルク発生部は、前記車高情報検出部の検出値に基づいて、運転者に伝えるべきステアリング反力を発生させることを特徴とする車両制御装置。 - 請求項7に記載の車両制御装置において、
前記ステアリング反力は、複数のステアリングモードを変更することにより切り換えることができることを特徴とする車両制御装置。
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- 2018-09-14 DE DE112018005542.6T patent/DE112018005542B4/de active Active
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CN111094112A (zh) | 2020-05-01 |
DE112018005542T5 (de) | 2020-06-25 |
US11708109B2 (en) | 2023-07-25 |
JPWO2019065289A1 (ja) | 2020-04-16 |
JP6838661B2 (ja) | 2021-03-03 |
CN111094112B (zh) | 2022-12-09 |
US20200262477A1 (en) | 2020-08-20 |
DE112018005542B4 (de) | 2023-08-17 |
KR20200040815A (ko) | 2020-04-20 |
KR102356289B1 (ko) | 2022-02-08 |
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