WO2021059845A1 - 車両運動制御装置 - Google Patents
車両運動制御装置 Download PDFInfo
- Publication number
- WO2021059845A1 WO2021059845A1 PCT/JP2020/032311 JP2020032311W WO2021059845A1 WO 2021059845 A1 WO2021059845 A1 WO 2021059845A1 JP 2020032311 W JP2020032311 W JP 2020032311W WO 2021059845 A1 WO2021059845 A1 WO 2021059845A1
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- Prior art keywords
- vehicle
- roll
- control
- pitch
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- Prior art date
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- Y02T10/72—Electric energy management in electromobility
Definitions
- the present disclosure relates to a vehicle motion control device used for a vehicle such as an automobile.
- Patent Document 1 a GV that controls acceleration / deceleration by generating substantially the same driving force or braking force on the left and right wheels of the four wheels based on an acceleration / deceleration command value calculated based on the lateral acceleration / acceleration of the vehicle.
- Control G-Vectoring control
- moment control G-Vectoring control
- Patent Document 2 describes a vehicle motion that achieves both roll control and forward downward pitch command by controlling a damping force variable damper in consideration of the pitch behavior of the vehicle generated by a command of GV control (G-Vectoring control). The control device is described.
- the vehicle motion control device of Patent Document 2 controls a damping force variable damper in consideration of GV control that generates substantially the same driving force or braking force on the left and right wheels of the four wheels during steering.
- the vehicle motion control device of Patent Document 2 does not consider moment control that generates different driving force or braking force on the left and right wheels during steering. Therefore, for example, when the technique of Patent Document 2 is used for a vehicle that performs moment control, the change in roll posture may be excessive or too small due to the roll moment caused by the moment control.
- An object of an embodiment of the present invention is to provide a vehicle motion control device capable of reducing the promotion or suppression of a change in roll posture in a vehicle that controls a yaw moment.
- a control driving force controller that adjusts a control driving force when steering a vehicle is provided between the vehicle body and a plurality of wheels, respectively, and the vehicle body and the vehicle body and the said vehicle are provided.
- a vehicle motion control device used for a vehicle having a plurality of force generators capable of adjusting the force between each wheel and having a control unit for adjusting the force of each force generator, wherein the control unit is provided.
- a command value that is estimated and the estimated roll amount approaches the target roll amount is output to the force generator.
- Gy lateral acceleration
- Gx_GVC acceleration / deceleration command
- M + moment command
- roll angle pitch angle
- suspension control command dampping force command for a variable damping force damper
- the vehicle body 1 constitutes the body of the vehicle.
- left and right front wheels 2 also referred to as wheels 2
- left and right rear wheels 3 also referred to as wheels 3
- a plurality of damping force adjusting shock absorbers 6 and 9 are provided between the vehicle body 1 and the plurality of wheels 2 and 3, respectively.
- suspension devices 4 and 4 on the front wheel side are provided between the left and right front wheel 2 sides and the vehicle body 1.
- Each suspension device 4 is provided between the left and right suspension springs 5 (hereinafter referred to as springs 5) and the left and right front wheel 2 sides and the vehicle body 1 in parallel with the springs 5 and left and right.
- It is composed of a damping force adjusting type shock absorber 6 (hereinafter, referred to as a damping force variable damper 6).
- the variable damping force damper 6 constitutes a force generator capable of adjusting the force between the vehicle body 1 and each wheel 2.
- the variable damping force damper 6 constitutes a suspension control device used in a vehicle together with a controller 21 described later.
- suspension devices 7 and 7 on the rear wheel side are provided between the left and right rear wheel 3 sides and the vehicle body 1.
- Each suspension device 7 is provided between the left and right suspension springs 8 (hereinafter referred to as springs 8) and the left and right rear wheel 3 sides and the vehicle body 1 in parallel with the springs 8.
- It is composed of a shock absorber 9 with an adjustable damping force on the right (hereinafter referred to as a variable damping force damper 9).
- the variable damping force damper 9 constitutes a force generator capable of adjusting the force between the vehicle body 1 and each wheel 3.
- the variable damping force damper 9 constitutes a suspension control device used in a vehicle together with a controller 21 described later.
- the damping force variable dampers 6 and 9 of the suspension devices 4 and 7 are configured by using a damping force adjusting type hydraulic shock absorber.
- the damping force variable dampers 6 and 9 have an actuator (a damping force adjusting valve, a proportional solenoid, etc.) for continuously adjusting the damping force characteristic from a hard characteristic (hard characteristic) to a soft characteristic (soft characteristic). (Not shown) is attached.
- the damping force adjusting actuator does not necessarily have to be configured to continuously change the damping force characteristics, and may be configured to be intermittently adjusted in two steps or three or more steps.
- the damping force variable dampers 6 and 9 may be, for example, a pneumatic damper or an electromagnetic damper (electric damper) as long as the damping force can be switched.
- a semi-active suspension provided with a damping force adjusting shock absorber (variable damping force dampers 6 and 9) as a force generating device will be described as an example.
- a damping force adjusting shock absorber (variable damping force dampers 6 and 9)
- an ER damper electricity
- various cylinder devices actuators
- semi-active suspensions with viscous fluid dampers air suspensions with air springs (pneumatic actuators), hydraulic active suspensions with hydraulic actuators, and hydraulic stabilizers.
- an electromagnetic suspension device or an electromagnetic stabilizer device equipped with an electric actuator such as a linear motor or a rotary motor.
- various force generators can be used as long as the force can be adjusted between the vehicle body 1 and the wheels 2 and 3.
- the yaw rate sensor 11 is provided on the vehicle body 1.
- the yaw rate sensor 11 detects, for example, a change in the rotation direction (yorate) that occurs around the center of gravity of the vehicle, and outputs the detection signal to the controller 21.
- the steering angle sensor 12 is provided on the vehicle body 1.
- the steering angle sensor 12 detects the steering angle when the driver of the vehicle operates the steering wheel (steering wheel) during turning or the like, and outputs the detection signal to the controller 21.
- the vehicle speed sensor 13 detects, for example, the traveling speed (vehicle speed) of the vehicle, and outputs the detection signal to the controller 21.
- the brake fluid pressure control device 15 is mounted on the vehicle body 1.
- the brake fluid pressure control device 15 generates a braking force when steering the vehicle together with the GVC control unit 24, the M + control unit 25, the target hydraulic pressure calculation unit 26 (see FIG. 2) of the controller 21, which will be described later. It constitutes a braking force control means.
- the brake fluid pressure control device 15 generates the brake fluid pressure according to, for example, the operation of the brake pedal by the driver of the vehicle and the control signal (braking signal) from the controller 21, and increases, holds, or decreases the brake fluid pressure. Take control.
- Wheel cylinders (neither shown) consisting of disc brakes or the like are provided on each front wheel 2 side and each rear wheel 3 side.
- the brake fluid pressure control device 15 is composed of, for example, an ESC (hydraulic pressure supply device) that individually supplies brake fluid pressure to the wheel cylinders of each of the wheels 2 and 3.
- a hydraulic braking device that generates braking force by flood control is used as an example of a braking device that applies braking force to the vehicle.
- an electric braking device that generates braking force by an electric motor may also be used.
- the brake fluid pressure control device 15 becomes a braking force control device
- the target hydraulic pressure calculation unit 26 becomes a target braking force calculation unit that obtains a target braking force corresponding to the control current of the electric motor.
- the drive device 16 (shown only in FIG. 2) is mounted on the vehicle body 1.
- the drive device 16 constitutes a driving force control means for generating a driving force when the vehicle is steered, together with a GVC control unit 24 and a target driving force calculation unit 27 (both of which are referred to in FIG. 2) of the controller 21, which will be described later.
- the drive device 16 executes acceleration control by generating a driving force on each front wheel 2 side according to, for example, an operation of the accelerator pedal by a vehicle driver and a control signal (drive signal) from the controller 21.
- the drive device 16 is composed of, for example, a prime mover that drives wheels of a vehicle engine, a traveling electric motor, or the like.
- the vehicle is, for example, a front-wheel drive vehicle in which the front wheels 2 and 2 are the driving wheels.
- the brake fluid pressure control device 15 and the drive device 16 together with the controller 21 are control drive force control means for generating a control drive force (a force of at least one of a braking force and a drive force) when steering the vehicle.
- a control drive force a force of at least one of a braking force and a drive force
- the vehicle has control driving force control means (at least one of braking force control means and driving force control means).
- the controller 21 constitutes a control driving force controller (braking force controller and / or driving force controller) that adjusts a controlling driving force (a force of at least one of a braking force and a driving force) when the vehicle is steered. are doing. That is, the vehicle has a control driving force controller (at least one of a braking force controller and a driving force controller).
- the brake fluid pressure control device 15 and the drive device 16 have four wheels (that is, acceleration / deceleration command values calculated based on the lateral acceleration / acceleration of the vehicle) from the GVC control unit 24 described later.
- GV control G-Vectoring control
- the brake fluid pressure control device 15 has four wheels (front wheels 2, rear wheels 3) based on a moment command (that is, a vehicle yaw moment suppression command value calculated based on lateral acceleration) from the M + control unit 25 described later.
- Moment control for controlling the yaw moment of the vehicle is performed by generating different driving force or braking force on the left and right wheels 2 and 3. That is, in the embodiment, as shown in FIG. 3, GV control and moment control are performed according to a change in lateral acceleration when the vehicle turns.
- the controller 21 includes, for example, a microcomputer provided with an arithmetic processing unit (CPU), a storage device (memory), and the like.
- the controller 21 corresponds to a control driving force controller that adjusts the control driving force when the vehicle is steered.
- the controller 21 constitutes a vehicle motion control device having a control unit (damping force adjusting control unit) for adjusting the forces of the damping force variable dampers 6 and 9.
- the controller 21 performs GV control by controlling the brake fluid pressure control device 15 and / or the drive device 16 by a front-rear G command (acceleration / deceleration command value) calculated based on the lateral acceleration / acceleration of the vehicle. That is, the controller 21 calculates an acceleration / deceleration command value (front / rear G command) based on the rate of change in the lateral acceleration of the vehicle (lateral acceleration / deceleration), and the brake fluid pressure control device 15 and / or the drive device is based on this acceleration / deceleration command value. Acceleration / deceleration is generated in the vehicle by generating the control driving force at 16.
- the controller 21 controls the moment by controlling the brake fluid pressure control device 15 with the yaw moment command value calculated based on the lateral acceleration. That is, the controller 21 calculates a yaw moment command value (moment command) based on the rate of change of the lateral acceleration of the vehicle (lateral acceleration), and the brake hydraulic pressure control device 15 generates a braking force based on the yaw moment command value. As a result, a yaw moment is generated in the vehicle. If the drive device 16 mounted on the vehicle is provided with a drive force distribution device such as an electromagnetic clutch capable of generating different drive forces on the left and right wheels, the left and right wheels differ depending on the yaw moment command value. A yaw moment may be generated in the vehicle by generating a driving force.
- a drive force distribution device such as an electromagnetic clutch capable of generating different drive forces on the left and right wheels
- the vehicle motion control device of Patent Document 2 described above controls a damping force variable damper in consideration of GV control that generates substantially the same driving force or braking force on the left and right wheels of the four wheels during steering.
- the vehicle motion control device of Patent Document 2 does not consider moment control that generates different driving force or braking force on the left and right wheels during steering. Therefore, for example, when the technique of Patent Document 2 is used for a vehicle that performs moment control or a vehicle that performs moment control and GV control, the roll posture is caused by the roll moment generated in the vehicle due to the moment control. Changes can be too much or too little. As a result, the attitude change of the vehicle becomes large, which may give a sense of discomfort to the driver and occupants.
- the moment control controls the yaw moment of the vehicle by generating different driving force or braking force on the left and right wheels (for example, generating a driving force or braking force on one wheel).
- the roll moment caused by this moment control may unnecessarily promote or suppress the roll. Therefore, in the embodiment, the force of the force generator (damping force variable dampers 6 and 9) is independently adjusted according to the moment control. More specifically, in the embodiment, the suspension control command is increased or decreased independently for each of the four wheels according to the value by the FF control according to the control command of the moment control and the GV control. As a result, the promotion or restraint of the roll due to the moment control is canceled, and the vehicle motion is consistent, so that the steering stability can be improved.
- the input side of the controller 21 is connected to the yaw rate sensor 11, the steering angle sensor 12, and the vehicle speed sensor 13, and the output side is the damping force variable dampers 6 and 9 (actuators) and the brake fluid pressure. It is connected to the control device 15 and the drive device 16.
- the controller 21 includes a lateral acceleration / yaw rate estimation unit 22, a differentiation unit 23, a GVC control unit 24, an M + control unit 25, a target hydraulic pressure calculation unit 26, a target driving force calculation unit 27, an attitude estimation unit 28, and a pitch control unit 29. It includes a roll suppression unit 30, a limit region determination unit 31, a relative speed estimation unit 32, an addition unit 33, and a damping force map unit 34.
- the steering angle is input from the steering angle sensor 12 to the lateral acceleration / yaw rate estimation unit 22 of the controller 21, and the vehicle speed is input from the vehicle speed sensor 13.
- the lateral acceleration / yaw rate estimation unit 22 estimates (calculates) the lateral acceleration and yaw rate based on the steering angle signal detected by the steering angle sensor 12 and the vehicle speed signal detected by the vehicle speed sensor 13.
- the lateral acceleration / yaw rate estimation unit 22 estimates the lateral acceleration and yaw rate from, for example, the steering angle and the vehicle speed using a vehicle model.
- the lateral acceleration / yaw rate estimation unit 22 outputs the estimated lateral acceleration to the differential unit 23 and the pitch control unit 29, and outputs the estimated yaw rate to the limit region determination unit 31.
- the lateral acceleration / yaw rate estimation unit 22 includes a filter unit.
- the filter unit performs filter processing for reproducing the dynamic characteristics for the lateral acceleration and the yaw rate, respectively. That is, the estimated lateral acceleration and yaw rate estimated from the steering angle and vehicle speed using the vehicle model ignore the dynamic characteristics from when the steering wheel is steered until the lateral acceleration and yaw rate are actually generated on the vehicle body 1. It becomes a signal. Therefore, the filter unit of the lateral acceleration / yaw rate estimation unit 22 reproduces the dynamics by the LPF (low-pass filter) that approximates the dynamic characteristics.
- LPF low-pass filter
- the differential acceleration unit 23 inputs the lateral acceleration from the lateral acceleration / yaw rate estimation unit 22.
- the differential unit 23 calculates the lateral jerk by differentiating the lateral acceleration estimated by the lateral acceleration / yaw rate estimation unit 22. That is, the differentiation unit 23 differentiates the estimated lateral acceleration calculated by the lateral acceleration / yaw rate estimation unit 22 by the “vehicle model” and the “LPF for considering the vehicle dynamics”, and calculates the lateral acceleration.
- the lateral acceleration calculated by the differentiation unit 23 is output to the relative velocity estimation unit 32, the roll suppression unit 30, the GVC control unit 24, and the M + control unit 25.
- the GVC control unit 24 for performing GV control controls the deceleration of the vehicle according to the lateral acceleration of the vehicle. That is, the GVC control unit 24 is a front-rear G command Gx_GVC (acceleration / deceleration command Gx_GVC) which is a command of a driving force or a braking force to be generated by the left and right wheels 2 and 3 of the vehicle based on the lateral acceleration calculated by the differentiation unit 23. Also called) is calculated.
- Gx_GVC acceleration / deceleration command Gx_GVC
- the braking force or the driving force is shown by adding black arrows to the wheels 2 and 3.
- braking force corresponding to the acceleration / deceleration command Gx_GVC negative acceleration command
- Gx_GVC negative acceleration command
- the same driving force is generated in the left and right wheels 2 and 3. That is, when the steering wheel is turned back, a driving force corresponding to the acceleration / deceleration command Gx_GVC (positive acceleration command) is applied to the left and right front wheels 2 and 2.
- the GVC control unit 24 includes, for example, a filter unit and a gain multiplication unit.
- the GVC control unit 24 performs LPF processing on the lateral acceleration by the filter unit and multiplies the gain by the gain multiplication unit to obtain the target front-rear acceleration (acceleration / deceleration command Gx_GVC). That is, the filter unit of the GVC control unit 24 performs a filter process using the low-pass filter “LPF” on the lateral acceleration calculated by the differential unit 23.
- the gain multiplication unit of the GVC control unit 24 obtains the target front-rear acceleration (Gx_GVC) which is the front-rear G command (acceleration / deceleration command) by multiplying the filtered lateral acceleration by gain ( ⁇ Cxy).
- the target longitudinal acceleration (Gx_GVC) is represented by, for example, the following equation (1).
- the front-back G command which is the target front-back acceleration
- the front-rear G command is output from the GVC control unit 24 to the attitude estimation unit 28. Further, the front-rear G command is output from the GVC control unit 24 to the target hydraulic pressure calculation unit 26 or the target driving force calculation unit 27.
- the front-rear G command is a deceleration command having a negative value (negative target front-rear acceleration)
- this deceleration command is output from the GVC control unit 24 to the target hydraulic pressure calculation unit 26.
- the front-rear G command is an acceleration command having a positive value (positive target front-rear acceleration)
- this acceleration command is output from the GVC control unit 24 to the target driving force calculation unit 27.
- the target hydraulic pressure calculation unit 26 calculates a hydraulic pressure value (target hydraulic pressure value) to be targeted based on the front-rear G command (deceleration command) output from the GVC control unit 24, and causes the brake fluid pressure control device 15 to calculate the target hydraulic pressure value (target hydraulic pressure value). Output. That is, the target hydraulic pressure calculation unit 26 calculates the target hydraulic pressure from the front-rear G command (target front-rear acceleration), and the brake fluid pressure control device 15 generates the hydraulic pressure. The brake fluid pressure control device 15 generates a hydraulic pressure corresponding to the target hydraulic pressure value calculated by the target hydraulic pressure calculation unit 26.
- the target driving force calculation unit 27 calculates the target driving force (target driving force) based on the front-rear G command (acceleration command) output from the GVC control unit 24, and outputs the target driving force (target driving force) to the driving device 16. That is, the target driving force calculation unit 27 calculates the target driving force from the front-rear G command (target front-rear acceleration), and the driving device 16 generates the driving force. The driving device 16 generates a driving force corresponding to the target driving force calculated by the target driving force calculation unit 27.
- the GVC control unit 24, the target hydraulic pressure calculation unit 26, and the target driving force calculation unit 27 calculate the target hydraulic pressure to be output to the brake fluid pressure control device 15 and the driving force to be output to the drive device 16. GV control in which lateral acceleration and front-rear acceleration are coupled is realized.
- the M + control unit 25 for performing moment control controls the yaw moment of the vehicle according to the lateral acceleration of the vehicle. That is, the M + control unit 25 calculates the moment command M +, which is a command of the yaw moment to be generated in the vehicle, based on the lateral acceleration calculated by the differential unit 23.
- the moment control when the steering wheel in which the lateral acceleration (Gy) increases is turned, the left and right wheels 2 and 3 are controlled by different braking forces (for example, only one wheel 2 and 3). By generating power), a yaw moment M + (positive yaw moment) in the turning direction of the vehicle is generated.
- the braking force on the wheels on the inner side of the turn is increased according to the lateral acceleration (the braking force is generated only on the wheels 2 and 3 on the left side) as compared with the wheels on the outer side of the turn.
- the steering wheel whose lateral acceleration (Gy) decreases is turned back, different braking forces are generated on the left and right wheels 2 and 3 (for example, braking force is generated only on one wheel 2 and 3).
- a yaw moment M + negative yaw moment in the direction opposite to the vehicle turning direction is generated.
- the braking force on the wheels on the outer side of the turn is increased according to the lateral acceleration (the braking force is generated only on the wheels 2 and 3 on the right side) as compared with the wheels on the inner side of the turn.
- the M + control unit 25 includes, for example, a filter unit and a gain multiplication unit.
- the M + control unit 25 performs LPF processing on the lateral acceleration by the filter unit and multiplies the gain by the gain multiplication unit to obtain the moment command M +. That is, the filter unit of the M + control unit 25 performs a filter process using the low-pass filter “LPF” on the lateral acceleration calculated by the differential unit 23.
- the gain multiplication unit of the M + control unit 25 obtains the moment command (M +) by multiplying the filtered lateral acceleration by the gain (Cm).
- the moment command (M +) is represented by the following equation (2).
- the moment command is output from the M + control unit 25 to the attitude estimation unit 28. Further, the moment command is output from the M + control unit 25 to the target hydraulic pressure calculation unit 26.
- the target hydraulic pressure calculation unit 26 calculates a target hydraulic pressure value (target hydraulic pressure value) based on the moment command output from the M + control unit 25, and outputs the target hydraulic pressure value (target hydraulic pressure value) to the brake hydraulic pressure control device 15. That is, the target hydraulic pressure calculation unit 26 calculates the target hydraulic pressure from the calculated moment command, and the brake hydraulic pressure control device 15 generates the hydraulic pressure.
- the brake fluid pressure control device 15 generates a hydraulic pressure corresponding to the target hydraulic pressure value calculated by the target hydraulic pressure calculation unit 26.
- the M + control unit 25 and the target hydraulic pressure calculation unit 26 calculate the target hydraulic pressure to be output to the brake fluid pressure control device 15 to realize moment control in which the lateral acceleration and the yaw moment are coupled.
- the target hydraulic pressure calculation unit 26 calculates the target hydraulic pressure value (target hydraulic pressure value) based on the front-rear G command from the GVC control unit 24 and the moment command from the M + control unit 25. Then, the output is output to the brake fluid pressure control device 15.
- the attitude estimation unit 28 is input with the front-rear G command output from the GVC control unit 24 and the moment command output from the M + control unit 25.
- the attitude estimation unit 28 estimates the pitch / roll amount generated in the vehicle by using the moment command (yaw moment command value).
- the posture estimation unit 28 estimates the pitch roll amount generated in the vehicle by using both the “front-rear G command” and the “moment command”. That is, the posture estimation unit 28 estimates the posture of the vehicle based on the "front-rear G command output from the GVC control unit 24" and the "moment command output from the M + control unit 25". In this case, the posture estimation unit 28 estimates the pitch rate and the roll rate as the posture of the vehicle (the amount of pitch and roll generated in the vehicle).
- the posture estimation unit 28 is based on the front-rear acceleration, that is, the front-rear acceleration which is the front-rear G command of the GVC control unit 24 and the front-rear acceleration estimated from the moment command of the M + control unit 25.
- the pitch rate generated in 1 is estimated.
- the pitch rate corresponding to the pitch amount (pitch state) generated in the vehicle is estimated by using not only the front-rear G command but also the yaw moment command value.
- the pitch rate is estimated, for example, as follows. That is, the pitch angle is calculated from the front-back acceleration by multiplying the front-back acceleration by the pitch angle / front-back acceleration gain and further reproducing the dynamics by performing LPF processing that approximates the dynamic characteristics. Then, the pitch rate is calculated (estimated) by differentiating the calculated pitch angle.
- the attitude estimation unit 28 also estimates the roll rate generated in the vehicle body 1 from the yaw moment command value, that is, the moment command of the M + control unit 25. As a result, the roll rate corresponding to the roll amount (roll state) generated in the vehicle is estimated using the yaw moment command value. In this case, the roll rate is calculated by, for example, calculating the roll angle from the roll moment estimated from the moment command and differentiating the roll angle. In addition, LPF processing is performed as needed.
- the pitch rate (estimated pitch rate) calculated by the attitude estimation unit 28 is output to the pitch control unit 29.
- the roll rate (estimated roll rate) calculated by the attitude estimation unit 28 is output to the roll suppression unit 30.
- the pitch control unit 29 has a lateral acceleration (estimated lateral acceleration) output from the lateral acceleration / yaw rate estimation unit 22, a pitch rate (estimated pitch rate) output from the attitude estimation unit 28, and a limit region determination unit 31.
- the output weight coefficient for pitch control is input.
- the pitch control unit 29 constitutes a target pitch amount calculating means (target pitch state calculating means) for calculating (acquiring) a target target pitch amount (specifically, pitch rate) from the turning state of the vehicle body.
- target pitch amount calculating means target pitch state calculating means for calculating (acquiring) a target target pitch amount (specifically, pitch rate) from the turning state of the vehicle body.
- the pitch control unit 29 calculates the target pitch rate by estimating the roll angle from the lateral acceleration, multiplying the absolute value of the estimated roll angle by the gain, and differentiating the roll angle. Then, the pitch control unit 29 calculates the difference between the target pitch rate calculated from the lateral acceleration and the pitch rate (predicted pitch rate) estimated by the attitude estimation unit 28, and from the calculated difference pitch rate, the pitch direction is controlled by FF control.
- the target damping force of each wheel is calculated so that the target pitch rate is obtained in consideration of the dynamics of.
- the controller 21 estimates the pitch amount generated in the vehicle, and can output a command value such that the estimated pitch amount approaches the target pitch amount to the damping force variable dampers 6 and 9. Further, the pitch control unit 29 weights the target damping force by multiplying the calculated target damping force by the pitch control weighting coefficient output from the limit region determination unit 31, and the target damping force multiplied by the weighting coefficient. The force is output to the addition unit 33.
- the pitch control unit 29 aims to reduce the pitch when the predicted pitch rate generated by the front-rear acceleration (front-back G command) of the GVC control unit 24 is larger than the target pitch rate. Therefore, the difference between the absolute value of the target pitch rate and the predicted pitch rate is calculated, and if the value is positive, the target pitch rate is large, so the pitch is generated by utilizing the control term that generates the pitch in consideration of the pitch dynamics. Let me. On the contrary, the difference between the absolute values of the target pitch rate and the predicted pitch rate is calculated, and when the value is negative, the predicted pitch rate is large, so the control term for suppressing the pitch is utilized to suppress the pitch.
- the roll suppression unit 30 includes a lateral acceleration output from the differentiation unit 23, a roll rate (estimated roll rate) output from the attitude estimation unit 28, and a roll suppression weighting coefficient output from the limit region determination unit 31. Is entered.
- the roll suppressing unit 30 constitutes a target roll amount calculating means (target roll state calculating means) for calculating (acquiring) a target target roll amount (specifically, a roll rate) from the turning state of the vehicle body.
- target roll amount calculating means target roll state calculating means for calculating (acquiring) a target target roll amount (specifically, a roll rate) from the turning state of the vehicle body.
- the roll suppression unit 30 rolls the roll amount (target roll rate) by the roll suppression unit 30 even in a vehicle that performs GV control and moment control. ) Is adjusted so that the damping force variable dampers 6 and 9 approach the target value. Therefore, the roll suppression unit 30 calculates the roll rate based on the lateral acceleration calculated by the differentiation unit 23, and multiplies the calculated roll rate by the gain to suppress the
- the roll suppression unit 30 calculates a target damping force that is a force (damping force) to be generated by the damping force variable dampers 6 and 9 on each wheel side in order to perform roll suppression control.
- the roll suppressing unit 30 calculates the target damping force so as to suppress the roll according to the lateral acceleration.
- the roll suppressing unit 30 calculates, for example, the difference between the target roll rate calculated from the lateral acceleration and the roll rate (predicted roll rate) estimated by the attitude estimation unit 28, and the target roll rate is calculated from the calculated difference roll rate.
- the target damping force of each wheel is calculated so as to be.
- the controller 21 estimates the roll amount generated in the vehicle based on the lateral acceleration and the yaw moment command value, and sets the command value so that the estimated roll amount approaches the target roll amount. It is possible to output to 9. Further, the roll suppression unit 30 weights the target damping force by multiplying the calculated target damping force by the roll suppression weighting coefficient output from the limit region determination unit 31, and the target damping force multiplied by the weighting coefficient. The force is output to the addition unit 33.
- the roll suppression unit 30 performs roll suppression control according to the moment command using the roll rate (predicted roll rate) estimated by the attitude estimation unit 28 from the moment command of the M + control unit 25. In this case, the roll suppressing unit 30 increases the roll control command (target damping force) when turning the steering wheel, and decreases the roll control command (target damping force) when turning the steering wheel back.
- the yaw rate (actual yaw rate) detected by the yaw rate sensor 11 and the estimated yaw rate calculated by the lateral acceleration / yaw rate estimation unit 22 are input to the limit area determination unit 31.
- the limit region determination unit 31 determines whether or not the ground contact force (grip force) of the tire during vehicle running has reached the limit region (non-linear region) from the normal region (linear region), and responds to the determination result.
- the weighting coefficient that is, the weighting coefficient for adjusting the control amount (target damping force) of the vehicle attitude is output. In this case, the limit region determination unit 31 adjusts the control amounts of roll suppression and pitch control according to the difference yaw rate.
- the limit region determination unit 31 is estimated by the lateral acceleration / yaw rate estimation unit 22, and the difference between the yaw rate (estimated yaw rate) output from the lateral acceleration / yaw rate estimation unit 22 and the actual yaw rate detected by the yaw rate sensor 11. Calculate the difference yaw rate.
- the limit region determination unit 31 calculates a roll suppression weighting coefficient for adjusting the roll suppression control amount and a pitch control weighting coefficient for adjusting the pitch control control amount based on the difference yaw rate.
- the limit region determination unit 31 outputs the roll suppression weighting coefficient to the roll suppression unit and outputs the pitch control weighting coefficient to the pitch control unit.
- the controller 21 adjusts the forces of the damping force variable dampers 6 and 9 based on the difference yaw rate, which is the difference between the estimated value and the detected value of the yaw rate of the vehicle.
- the controller 21 outputs a command value to the damping force variable dampers 6 and 9 serving as a force generator based on the difference yaw rate, which is the difference between the estimated value and the detected value of the yaw rate of the vehicle.
- the difference coefficient becomes large
- the limit region determination unit 31 determines that the tire during vehicle running is in a state close to the limit region, and in this case, the roll suppression unit 30 controls.
- the roll suppression weighting coefficient is increased so as to give weight, and the pitch control weighting coefficient is reduced so as to approach "0" or "0" in order to make the control on the pitch control unit 29 side relatively small.
- the lateral acceleration acceleration is input from the differentiation unit 23 to the relative velocity estimation unit 32.
- the relative speed estimation unit 32 estimates (calculates) the upward / downward expansion / contraction speed (stroke speed) of the damping force variable dampers 6 and 9 of each wheel based on the lateral acceleration calculated by the differential unit 23 as the relative speed. That is, the relative speed estimation unit 32 estimates the relative speed of each wheel by using the geometric relationship from the roll rate calculated from the lateral acceleration and the vehicle specifications.
- the relative velocity estimated by the relative velocity estimation unit 32 is input to the damping force map unit 34.
- the target damping force output from the roll suppressing unit 30 and the target damping force output from the pitch control unit 29 are input to the adding unit 33.
- the addition unit 33 adds the damping force corresponding to the roll suppression control amount calculated by the roll suppression unit 30 and the damping force corresponding to the pitch control amount calculated by the pitch control unit 29, and sets this as the target of each wheel. It is output to the damping force map unit 34 as the damping force.
- the relative speed output from the relative speed estimation unit 32 and the target damping force output from the addition unit 33 are input to the damping force map unit 34.
- the damping force map unit 34 calculates the command current value from the damping force characteristic map (relationship between the damping force, the command current value, and the relative speed) stored in advance from the relative speed estimated as the target damping force. ..
- the damping force map unit 34 outputs the calculated command current value to a current driver (not shown), and supplies the current corresponding to the command current value to the damping force variable dampers 6 and 9 via the current driver. As a result, the damping force of the variable damping force dampers 6 and 9 is variably adjusted.
- the attitude estimation unit 28 of the controller 21 "is a yaw moment command value (moment command) that generates a yaw moment in the vehicle based on the rate of change of the lateral acceleration of the vehicle (lateral acceleration). And / or “acceleration / deceleration command value (front / rear G command) that causes acceleration / deceleration in the vehicle based on the rate of change in lateral acceleration of the vehicle (lateral acceleration / acceleration)", and the amount of pitch / roll generated in the vehicle (prediction) Estimate (calculate) pitch rate, predicted roll rate).
- the pitch amount and roll by the pitch control unit 29 are used by using the pitch roll amount (predicted pitch rate, predicted roll rate) estimated by the attitude estimation unit 28.
- the damping force of the damping force variable dampers 6 and 9 is adjusted so that the roll amount by the suppressing unit 30 approaches the target value.
- the controller 21 increases the roll control command (target damping force) when turning the steering wheel and decreases the roll control command (target damping force) when turning the steering wheel back in response to the yaw moment command.
- the damping force of the damping force variable dampers 6 and 9 may be adjusted so that only the roll amount having a large influence on the vehicle of the moment control approaches the target value.
- the roll amount generated in the vehicle may be estimated so that the roll amount of the roll suppressing unit 30 as the target roll amount calculation means approaches the target value. That is, it is not necessary to input the command value of the pitch control unit 29 to the damping force map unit 34.
- the controller 21 calculates the target roll amount to be the target from the turning state of the vehicle body. Then, the controller 21 estimates the roll amount generated in the vehicle based on the rate of change of the lateral acceleration of the vehicle and the yaw moment command value for generating the yaw moment, and the estimated roll amount approaches the target roll amount. Such a command value is output to the damping force variable dampers 6 and 9 which are the force generators. Further, the controller 21 calculates a target pitch amount to be a target from the turning state of the vehicle body.
- the controller 21 estimates the pitch amount generated in the vehicle, and outputs a command value such that the estimated pitch amount approaches the target pitch amount to the damping force variable dampers 6 and 9 serving as the force generating device.
- the controller 21 estimates the pitch / roll amount generated in the vehicle by using the acceleration / deceleration command value for generating acceleration / deceleration and the yaw moment command value based on the rate of change of the lateral acceleration of the vehicle.
- a command value that causes the estimated pitch / roll amount to approach the target pitch amount and the target roll amount is output to the damping force variable dampers 6 and 9 that serve as the force generator.
- the vehicle motion control device has the above-described configuration, and next, the posture control process of the vehicle body 1 by the controller 21 will be described.
- the differentiation unit 23 calculates the lateral acceleration by differentiating the estimated lateral acceleration calculated by the lateral acceleration / yaw rate estimation unit 22 by the vehicle model and the LPF (low-pass filter) for considering the vehicle dynamics.
- the GVC control unit 24 performs LPF processing on the lateral acceleration and multiplies the gain to calculate the target front-rear acceleration, which is a front-rear G command.
- the target hydraulic pressure calculation unit 26 calculates the target hydraulic pressure from the front-rear G command (target front-rear acceleration) calculated by the GVC control unit 24, and the brake fluid pressure control device 15 applies the brake fluid pressure control device 15 to the wheel cylinder (disc brake) on each wheel side. Generates hydraulic pressure.
- the target driving force calculation unit 27 calculates the target driving force from the front-rear G command (target front-rear acceleration) calculated by the GVC control unit 24, and each wheel (left and right front wheels 2 and 2) is calculated by the driving device 16. Gives driving force to. By controlling in this way, GV control in which lateral acceleration and front-back acceleration are coupled can be realized.
- the M + control unit 25 performs LPF processing on the lateral acceleration and multiplies the gain to calculate a moment command (yaw moment command).
- the target hydraulic pressure calculation unit 26 calculates the target hydraulic pressure from the moment command calculated by the M + control unit 25, and the brake hydraulic pressure control device 15 generates the hydraulic pressure in the wheel cylinder (disc brake) on each wheel side. By controlling in this way, moment control (M + control, yaw moment control) in which lateral acceleration and yaw moment are coupled can be realized.
- the roll suppressing unit 30 calculates the target damping force so as to suppress the roll according to the lateral acceleration.
- the pitch control unit 29 calculates the target damping force so as to improve the roll feeling according to the lateral acceleration.
- the pitch control unit 29 calculates the target pitch rate by multiplying the absolute value of the roll angle estimated from the lateral acceleration by the gain.
- the attitude estimation unit 28 uses the pitch rate generated by the "front-back G command of GV control" and the "front-back acceleration generated from the moment command of moment control". To estimate.
- the attitude estimation unit 28 also estimates the roll rate generated from the moment command of the moment control.
- the pitch control unit 29 calculates the difference between the pitch rate (predicted pitch rate) estimated by the attitude estimation unit 28 and the target pitch rate, and considers the dynamics in the pitch direction by FF control from the calculated difference pitch rate. , Calculate the target damping force of each wheel so that the target pitch rate is obtained.
- the pitch rate generated by the back-and-forth acceleration of GV control and moment control is larger than the target pitch rate, the target is to reduce the pitch. Therefore, the difference between the absolute value of the target pitch rate and the predicted pitch rate is calculated, and if the value is positive, the target pitch rate is large, so the pitch is generated by utilizing the control term that generates the pitch in consideration of the pitch dynamics. Let me. On the contrary, the difference between the absolute values of the target pitch rate and the predicted pitch rate is calculated, and when the value is negative, the predicted pitch rate is large, so the control term for suppressing the pitch is utilized to suppress the pitch.
- the roll suppression unit 30 calculates the difference between the target roll rate calculated from the lateral acceleration and the roll rate (predicted roll rate) estimated by the attitude estimation unit 28, and obtains the target roll rate from the calculated difference roll rate.
- the target damping force of each wheel is calculated as described above.
- the roll control command since the influence of the moment control on the vehicle differs between the time of cutting and the time of turning back, the roll control command (target damping force) is increased according to the moment control command value (moment command) at the time of cutting. When switching back, the roll control command (target damping force) is reduced. As a result, it is possible to obtain a consistent roll behavior during steering.
- the limit region determination unit 31 calculates the difference yaw rate, which is the difference between the yaw rate (estimated yaw rate) calculated by the lateral acceleration / yaw rate estimation unit 22 and the actual yaw rate detected by the yaw rate sensor 11.
- the limit region determination unit 31 adjusts the control amounts of roll suppression and pitch control according to the difference yaw rate. Specifically, the roll suppression weighting coefficient for adjusting the roll suppression control amount and the pitch control weighting coefficient for adjusting the pitch control control amount are calculated based on the difference yaw rate.
- the limit region determination unit 31 outputs the roll suppression weighting coefficient to the roll suppression unit 30, and outputs the pitch control weighting coefficient to the pitch control unit 29.
- the target damping force is multiplied by the roll suppression weighting coefficient, and in the pitch control unit 29, the target damping force is multiplied by the pitch suppression weighting coefficient.
- the target damping force can be adjusted according to the ground contact force (grip force) of the tire when the vehicle is running.
- the relative speed estimation unit 32 calculates the roll rate from the lateral acceleration calculated by the differential unit 23, and utilizes the geometrical relationship between the calculated roll rate and the vehicle specifications to obtain the relative speed of each wheel. To estimate.
- the target damping force (roll suppression control amount) calculated by the roll suppression unit 30 and the target damping force (pitch control amount) calculated by the pitch control unit 29 are added together as described above. This is the target damping force for each wheel.
- the damping force map unit 34 the damping force characteristics (damping force-command current value-relative) stored in advance in the controller 21 from the target damping force of each wheel and the relative speed estimated by the relative speed estimation unit 32. Calculate the command current value using (velocity).
- the controller 21 generates the calculated current value with the current driver, and changes the damping force of the damping force variable dampers 6 and 9.
- FIG. 3 shows an example of time changes of lateral acceleration (Gy), acceleration / deceleration command (Gx_GVC), moment command (M +), roll angle, pitch angle, and suspension control command (damping force command for variable damping force dampers 6 and 9).
- the solid line 41 shows the change in the lateral acceleration Gy
- the solid line 42 shows the change in the acceleration / deceleration command (front / rear G command) Gx_GVC
- the solid line 43 shows the change in the moment command M +.
- the broken lines 44, 45, and 46 indicate the damping of the damping force variable dampers 6 and 9 in consideration of the attitude change due to the GV control in the vehicle performing the GV control as in the technique described in Patent Document 2.
- the two-dot chain lines 47, 48, and 49 are the roll angles when adjusting the damping force of the damping force variable dampers 6 and 9 in consideration of the attitude change due to GV control in the vehicle performing GV control and moment control. It shows the change, the change of the pitch angle, and the change of the suspension control command (damping force).
- FIG. 3 the two-dot chain lines 47, 48, and 49 are the roll angles when adjusting the damping force of the damping force variable dampers 6 and 9 in consideration of the attitude change due to GV control in the vehicle performing GV control and moment control. It shows the change, the change of the pitch angle, and the change of the suspension control command (damping force).
- the solid lines 50, 51, and 52 show the case where the damping force of the damping force variable dampers 6 and 9 is adjusted in consideration of the attitude change due to the GV control and the moment control in the vehicle performing the GV control and the moment control, that is, The change of the roll angle, the change of the pitch angle, and the change of the suspension control command (damping force) of this embodiment are shown.
- the roll is caused by the roll moment due to the brake being applied to one wheel by the moment control. Is promoted and suppressed. That is, the roll is promoted when the steering is turned, and the roll is suppressed when the steering is turned back.
- the solid line 52 of the suspension control command (damping force) in FIG. 3 with the alternate long and short dash line 49, in the present embodiment in consideration of the attitude change due to the moment control, when the steering is turned.
- the suspension control command (damping force) is increasing, and the suspension control command (damping force) is decreasing when the steering is turned back.
- the change in the pitch angle is suppressed at the time of turning the steering wheel and at the time of turning the steering wheel back. Can be done.
- the present embodiment it is possible to reduce the promotion of the roll when the steering is turned, and the roll is released when the steering is turned back. It is possible to reduce the suppression. That is, in the embodiment, the steering stability of the vehicle is improved by controlling the damping force variable dampers 6 and 9 in consideration of the pitch generated by the GV control and the moment control and the roll generated by the moment control. be able to. In this case, it is possible to suppress pitch roll, especially roll, which occurs when the steering is returned (lane change, turn escape).
- the roll can be adjusted by adjusting the damping force of the damping force variable dampers 6 and 9 in consideration of the attitude change due to the moment control.
- the controller 21 has a pitch roll amount (pitch rate, etc.) generated in the vehicle from the yaw moment command value (moment command) and the acceleration / deceleration command value (front / rear G command).
- the roll rate) is estimated, and the force (damping force) of the damping force variable dampers 6 and 9 is adjusted so that the pitch amount by the pitch control unit 29 and the roll amount by the roll suppression unit 30 approach the target value. Therefore, the forces (damping forces) of the damping force variable dampers 6 and 9 are "change in pitch / roll amount due to yaw moment generated based on moment command” and "pitch generated based on moment command and front / rear G command”. It is adjusted to a force that takes into account "change in pitch and roll amount due to moment”.
- the force (damping force) of the damping force variable dampers 6 and 9 is adjusted based on the difference yaw rate, which is the difference between the estimated value and the detected value of the yaw rate of the vehicle. Therefore, it is estimated from the difference yaw rate whether the ground contact force (grip force) of the tire when the vehicle is running is in the normal range or the limit range, and the force (damping force) of the damping force variable dampers 6 and 9 is estimated according to the range. ) Can be adjusted. That is, the damping force of the damping force variable dampers 6 and 9 can be adjusted in consideration of the condition of the ground contact force of the tire, and the steering stability can be improved from this aspect as well.
- the controller 21 increases the roll control command (suspension control command in FIG. 3) when the steering is turned in, and the roll control command (in FIG. 3) when the steering is turned back in response to the moment command. Suspension control command) is reduced. Therefore, it is possible to reduce the promotion of roll when the steering is turned, and it is possible to reduce the suppression of the roll when the steering is turned back.
- FIG. 4 shows a second embodiment.
- the actuator force generation mechanism
- the attitude of the vehicle body is not a semi-active suspension (for example, a damping force adjustment type hydraulic shock absorber) but an active suspension that can generate thrust by itself (for example).
- Electromagnetic suspension More specifically, in the second embodiment, the force generated in the vehicle body from the control commands of GV control and moment control is canceled by FF control (feedforward control), and FF control and FB are realized so as to realize the target posture.
- FF control feedforward control
- FF control and FB are realized so as to realize the target posture.
- the structure is such that the electromagnetic suspension (electric actuator) is controlled by control (feedback control).
- the same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.
- a plurality of electromagnetic suspensions 61 are provided between the vehicle body 1 and the plurality of wheels 2 and 3, respectively.
- the electromagnetic suspension 61 includes an electric actuator (electromagnetic damper) such as an electric linear actuator, for example.
- the electromagnetic suspension 61 constitutes a force generator capable of adjusting the force between the vehicle body 1 and each wheel 2.
- the electromagnetic suspension 61 together with the controller 63 described later, constitutes a suspension control device used in a vehicle.
- the vehicle height sensor 62 is provided.
- the vehicle height sensor 62 is provided on the vehicle body 1.
- the vehicle height sensor 62 detects the vehicle height individually on the left and right front wheel 2 sides and the left and right rear wheel 3 sides, and outputs the detection signal to the controller 63.
- the input side of the controller 63 is connected to the vehicle height sensor 62, the steering angle sensor 12, and the vehicle speed sensor 13, and the output side is connected to the actuator (electric linear actuator) of the electromagnetic suspension 61 and the brake fluid pressure control device 15.
- the controller 63 includes a lateral acceleration estimation unit 22A, a GVC control unit 64, an M + control unit 65, a target hydraulic pressure calculation unit 26, an FF control unit 66, a target attitude calculation unit 67, an attitude calculation unit 68, a difference calculation unit 69, and FF control.
- a unit 70, an FB control unit 71, and an addition unit 72 are provided.
- the lateral acceleration / yaw rate estimation unit 22 for estimating the lateral acceleration and the yaw rate is provided, whereas in the second embodiment, the lateral acceleration estimation unit 22A for estimating the lateral acceleration is provided. I have.
- the lateral acceleration estimation unit 22A of the controller 63 outputs the estimated lateral acceleration to the target attitude calculation unit 67, the GVC control unit 64, and the M + control unit 65.
- the GVC control unit 64 calculates the lateral jerk by differentiating the lateral acceleration estimated by the lateral acceleration estimation unit 22A, and should generate it on the left and right wheels 2 and 3 of the vehicle based on the calculated lateral jerk.
- the front-rear G command which is a command for driving force or braking force, is calculated. That is, the GVC control unit 64 of the second embodiment is composed of the differentiation unit 23 and the GVC control unit 24 (both of which see FIG. 2) of the first embodiment.
- the M + control unit 65 calculates the lateral jerk by differentiating the lateral acceleration estimated by the lateral acceleration estimation unit 22A, and serves as a command of the yaw moment to be generated in the vehicle based on the calculated lateral jerk. Calculate the moment command. That is, the M + control unit 65 of the second embodiment is composed of the differentiation unit 23 and the M + control unit 25 of the first embodiment (both see FIG. 2).
- the front-rear G command calculated by the GVC control unit 64 and the moment command calculated by the M + control unit 65 are output to the target hydraulic pressure calculation unit 26.
- the target hydraulic pressure calculation unit 26 sets the target based on the front-rear G command from the GVC control unit 64 and the moment command from the M + control unit 65.
- the brake command value of each wheel which is the power hydraulic pressure value (target hydraulic pressure value), is calculated and output to the brake hydraulic pressure control device 15 and the FF control unit 66.
- the target hydraulic pressure calculation unit 26 inputs the brake command value for each wheel to the FF control unit 66.
- the FF control unit 66 calculates (estimates) the roll moment and the pitch moment (predicted roll moment and predicted pitch moment) generated by the brake command value of each wheel based on the moment command and / or the front / rear G command. Then, the FF control unit 66 outputs a command value (command roll moment and command pitch moment) for canceling the roll moment and pitch moment to the addition unit 72. In this way, the FF control unit 66 estimates (calculates) the pitch roll amount (predicted pitch moment, predicted roll moment) generated in the vehicle by using the brake command value of each wheel from the target hydraulic pressure calculation unit 26. To do.
- the target posture calculation unit 67, the posture calculation unit 68, the difference calculation unit 69, the FF control unit 70, the FB control unit 71, and the addition unit 72 correspond to the target pitch amount calculation means and the target roll amount calculation means.
- the lateral acceleration (estimated lateral acceleration) of the vehicle body 1 estimated by the lateral acceleration estimation unit 22A is input to the target posture calculation unit 67.
- the target posture calculation unit 67 calculates the target roll rate and the target pitch rate from the estimated lateral acceleration.
- the target posture calculation unit 67 outputs the target roll rate and the target pitch rate to the difference calculation unit 69 and the FF control unit 70.
- the vehicle height detected by the vehicle height sensor 62 is input to the posture calculation unit 68.
- the posture calculation unit 68 calculates the actual roll rate and the actual pitch rate from the vehicle height (actual vehicle height) detected by the vehicle height sensor 62.
- the attitude calculation unit 68 outputs the actual roll rate and the actual pitch rate to the difference calculation unit 69.
- the difference calculation unit 69 calculates the difference between the target roll rate and target pitch rate calculated by the target attitude calculation unit 67 and the actual roll rate and actual pitch rate calculated by the attitude calculation unit 68, and the difference (target value). Is output to the FB control unit 71.
- the FF control unit 70 calculates the target roll moment and the target pitch moment by the feedforward control and outputs them to the addition unit 72.
- the FB control unit 71 calculates the target roll moment and the target pitch moment by feedback control according to the difference with respect to the target value calculated by the difference calculation unit 69, and outputs the target roll moment and the target pitch moment to the addition unit 72.
- the addition unit 72 includes a target roll moment and a target pitch moment from the FF control unit 70, a target roll moment and a target pitch moment from the FB control unit 71, and a roll generated by GV control and moment control from the FF control unit 66. Add the moment and the command value (command roll moment, command pitch moment) for canceling the pitch moment. As a result, the addition unit 72 calculates the final target roll moment and target pitch moment and outputs the final target roll moment and target pitch moment to the electromagnetic suspension 61 (actuator). In this case, the addition unit 72 controls the amount of control so that the target thrusts FR, FL, RR, and RL corresponding to the target pitch moment and the target roll moment distributed to each wheel side can be generated by the electromagnetic suspension 61 on each wheel side. Is calculated, and a control signal corresponding to the calculated control amount (target thrust FR, FL, RR, RL) is individually output to each electromagnetic suspension 61.
- the addition unit 72 of the controller 63 has a command value (command roll moment, command roll moment,) obtained from the pitch roll amount (predicted pitch moment, predicted roll moment) estimated by the FF control unit 66.
- the target attitude calculation unit 67, attitude calculation unit 68, difference calculation unit 69, FF control unit 70, and FB control unit 71 use the command pitch moment) to target the pitch amount (pitch moment) and roll amount (roll moment).
- the control force of the electromagnetic suspension 61 is adjusted so as to approach the value.
- the controller 63 estimates the pitch / roll amount generated in the vehicle by using the acceleration / deceleration command value for generating acceleration / deceleration and the yaw moment command value based on the rate of change of the lateral acceleration of the vehicle, and the estimation is performed.
- a command value that causes the pitch / roll amount to approach the target pitch amount and the target roll amount is output to the damping force variable dampers 6 and 9 that serve as the force generator.
- the second embodiment adjusts the force (control force) of the electromagnetic suspension 61 by the controller 63 as described above, and its basic operation is not particularly different from that according to the first embodiment described above.
- the controller 63 calculates the roll moment and the pitch moment generated by the brake command value of each wheel by the GV control and the moment control by the FF control unit 66, and cancels the roll moment and the pitch moment.
- the command value is output to the addition unit 72.
- the controller 21 constitutes a part of the control driving force control means (control drive force controller) that generates the control drive force when the vehicle is steered, and also constitutes a force generator (damping). It constitutes a force adjusting means (control unit) for adjusting the force of the force variable dampers 6 and 9).
- controller control driving force controller
- controller control unit
- damping force variable dampers 6 and 9 are separately provided.
- controllers may be connected by a communication line (signal line). This also applies to the second embodiment.
- the case of a vehicle capable of performing both GV control and moment control (vehicle yaw moment control, M + control) as control for generating a controlling driving force in the vehicle has been described as an example. ..
- the present invention is not limited to this, and for example, a vehicle that does not perform GV control but performs moment control may be used.
- the case of a vehicle capable of generating both a braking force and a driving force as GV control has been described as an example.
- the present invention is not limited to this, and for example, a vehicle that performs GV control that does not generate a driving force and generates a braking force, or a vehicle that performs GV control that does not generate a braking force and generates a driving force may be used.
- a vehicle that generates a braking force as a moment control has been described as an example.
- the present invention is not limited to this, and for example, a vehicle that performs moment control that does not generate braking force but generates driving force, or a vehicle that can generate both braking force and driving force as moment control may be used. .. These things are the same for the second embodiment.
- the lateral acceleration has been described by taking as an example the case where the lateral acceleration is estimated from the steering angle and the vehicle speed using a vehicle model.
- the present invention is not limited to this, and for example, the lateral acceleration may be detected using a sensor, and the method for calculating the lateral acceleration is not limited. That is, the rate of change in lateral acceleration may be obtained from the rate of change in steering angle, the differential value of yaw rate, the differential value of curvature, navigation data, and the like.
- the vehicle motion control device based on the embodiment described above, for example, the one described below can be considered.
- a control driving force controller that adjusts the control driving force when the vehicle is steered is provided between the vehicle body and the plurality of wheels, respectively, and the vehicle body and each of the above are provided.
- a vehicle motion control device used for a vehicle having a plurality of force generators capable of adjusting a force between wheels and a control unit for adjusting the force of each force generator, wherein the control unit is a control unit.
- the target roll amount to be targeted is calculated from the turning state of the vehicle body, and the roll amount generated in the vehicle is estimated based on the rate of change of the lateral acceleration of the vehicle and the yaw moment command value for generating the yaw moment.
- a command value that causes the estimated roll amount to approach the target roll amount is output to the force generator.
- the control unit since the control unit outputs the command value to the force generator in consideration of the yaw moment command value, the change in the roll posture is promoted or suppressed in the vehicle that controls (generates) the yaw moment. It can be reduced.
- control unit calculates a target target pitch amount from the turning state of the vehicle body, estimates the pitch amount generated in the vehicle, and estimates the pitch amount. Outputs a command value that approaches the target pitch amount to the force generator.
- the force of the force generator can be adjusted by using the pitch amount as well.
- control unit uses the yaw moment command value to generate the yaw moment based on the rate of change of the lateral acceleration of the vehicle, and the pitch roll generated in the vehicle.
- the amount is estimated, and the force of the force generator is adjusted so that the estimated pitch roll amount approaches the target pitch amount and the target roll amount.
- the control unit estimates the pitch roll amount generated in the vehicle from the yaw moment command value, and forces the estimated pitch roll amount to approach the target pitch amount and the target roll amount. Adjust the force of the generator. Therefore, the force of the force generator is adjusted to a force that takes into account the change in the pitch / roll amount due to the yaw moment generated based on the yaw moment command value. As a result, it is possible to reduce that the roll is promoted or suppressed by the yaw moment generated based on the yaw moment command value. That is, it is possible to cancel the promotion or suppression of the roll by the yaw moment generated based on the yaw moment command value, and it is possible to maintain the roll pitch coupling.
- the control unit uses the acceleration / deceleration command value for generating acceleration / deceleration and the yaw moment command value based on the rate of change of the lateral acceleration of the vehicle.
- the pitch roll amount generated in the vehicle is estimated, and a command value such that the estimated pitch roll amount approaches the target pitch amount and the target roll amount is output to the force generator.
- the control unit estimates the pitch roll amount generated in the vehicle from the yaw moment command value and the acceleration / deceleration command value, and the estimated pitch roll amount is the target pitch amount and the target roll.
- the force of the force generator can be adjusted to approach the quantity. Therefore, the force of the force generator is not only the change in the pitch / roll amount due to the yaw moment generated based on the yaw moment command value, but also the pitch due to the pitch moment generated based on the yaw moment command value and the acceleration / deceleration command value. -The force is adjusted to take into account changes in the amount of roll.
- the pitch is increased by the pitch moment generated based on the yaw moment command value and the acceleration / deceleration command value. It can be reduced from being promoted or suppressed.
- the roll-pitch coupling can be maintained in the vehicle in which the control driving force is generated by the control driving force controller based on the yaw moment command value and the acceleration / deceleration command value when the vehicle is steered, and the steering stability can be improved. Can be improved.
- the yaw rate sensor for detecting the yaw rate of the vehicle is further provided, and the control unit is based on the difference yaw rate which is the difference between the estimated value and the detected value of the yaw rate of the vehicle. And output to the force generator.
- it is estimated from the difference yaw rate whether the ground contact force (grip force) of the tire during vehicle running is in the normal range or the limit range, and the force of the force generator is applied according to the range. Can be adjusted. That is, the force of the force generator can be adjusted in consideration of the condition of the ground contact force of the tire, and the steering stability can be improved from this aspect as well.
- the control unit increases the roll control command at the time of turning the steering wheel and decreases the roll control command at the time of turning back the steering wheel according to the yaw moment command value. According to this fifth aspect, it is possible to reduce the promotion of roll when the steering is turned, and it is possible to reduce the suppression of the roll when the steering is turned back.
- the present invention is not limited to the above-described embodiment, and includes various modifications.
- the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations.
- it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.
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Abstract
Description
Claims (5)
- 車両運動制御装置であって、
前記車両運動制御装置は、
車両の操舵の際に制駆動力を調整する制駆動力コントローラと、
前記車両の車体と複数の車輪との間にそれぞれ介装して設けられ、前記車体と前記各車輪との間の力を調整可能な複数の力発生装置と、を有する車両に用いられ、
前記車両運動制御装置は、また、前記各力発生装置の力を調整するコントロール部を有しており、
前記コントロール部は、
前記車体の旋回状態から目標となる目標ロール量を算出し、
前記車両の横加速度の変化率と、ヨーモーメントを発生させるヨーモーメント指令値とに基づいて、前記車両に発生するロール量を推定し、当該推定したロール量が前記目標ロール量に近づくような指令値を、前記力発生装置へ出力することを特徴とする車両運動制御装置。 - 請求項1において、
前記コントロール部は、
前記車体の旋回状態から目標となる目標ピッチ量を算出し、
前記車両に発生するピッチ量を推定し、当該推定したピッチ量が前記目標ピッチ量に近づくような指令値を、前記力発生装置へ出力することを特徴とする車両運動制御装置。 - 請求項2において、
前記コントロール部は、
前記車両の横加速度の変化率に基づいて、加減速を発生させる加減速指令値と前記ヨーモーメント指令値とを用いて、前記車両に発生するピッチ・ロール量を推定し、当該推定したピッチ・ロール量が前記目標ピッチ量と前記目標ロール量とに近づくような指令値を、前記力発生装置へ出力することを特徴とする車両運動制御装置。 - 請求項2において、
前記車両のヨーレイトを検出するヨーレイトセンサをさらに備え、
前記コントロール部は、
前記車両のヨーレイトの推定値と検出値との差である差ヨーレイトに基づいて、前記力発生装置へ出力することを特徴とする車両運動制御装置。 - 請求項2において、
前記コントロール部は、
前記ヨーモーメント指令値に応じて、操舵の切り込み時にロール制御指令を増加し、操舵の切り戻し時にロール制御指令を減少させることを特徴とする車両運動制御装置。
Priority Applications (5)
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KR1020227004472A KR20220034194A (ko) | 2019-09-27 | 2020-08-27 | 차량 운동 제어 장치 |
JP2021548446A JP7228705B2 (ja) | 2019-09-27 | 2020-08-27 | 車両運動制御装置 |
US17/762,131 US11945428B2 (en) | 2019-09-27 | 2020-08-27 | Vehicle motion control apparatus |
CN202080067760.8A CN114450206A (zh) | 2019-09-27 | 2020-08-27 | 车辆运动控制装置 |
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EP4234354A1 (de) * | 2022-02-23 | 2023-08-30 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Verfahren zur plausibilisierung einer drehrate eines fahrzeugaufbaus eines fahrzeugs und vorrichtung zur ausführung des verfahrens |
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Also Published As
Publication number | Publication date |
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CN114450206A (zh) | 2022-05-06 |
US20220388485A1 (en) | 2022-12-08 |
JPWO2021059845A1 (ja) | 2021-04-01 |
KR20220034194A (ko) | 2022-03-17 |
US11945428B2 (en) | 2024-04-02 |
DE112020004640T5 (de) | 2022-06-30 |
JP7228705B2 (ja) | 2023-02-24 |
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