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Problems solved by technology
However, even with such a technology, due to detection errors or estimation errors in the state quantities of the vehicle and the running environment, controlling the actions of the actuators of the vehicle with a control input (operation amount) that is not suitable for the actual vehicle action will occasionally occur. The action of the actuator is limited by the limiter
Therefore, it is difficult to control the action of the actuator properly
Method used
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no. 1 approach
[0093] First, the vehicle mode used in the arithmetic processing (control processing) of the control device 10 according to the first embodiment of the present invention will be described with reference to FIGS. 2 and 3. FIG. 2 is a block diagram showing the functional configuration of the vehicle mode 72 of this embodiment, and FIG. 3 is a flowchart showing the processing of the vehicle mode 72.
[0094]In addition, in the following description, the character i (i=1, 2, 3, 4) of the same number as the wheel W1 to W4 is attached|subjected to the variable corresponding to each of the wheels W1-W4. As shown in FIG. 1 described above, the wheels W1 to W4 are the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel of the vehicle 1, respectively. In addition, in the following description, the tires provided on the outer periphery of each wheel Wi (parts that are in direct contact with the road surface and receive frictional force) are regarded as the ...
no. 2 Embodiment approach
[0275] Next, a second embodiment of the vehicle control device of the present invention will be described. In addition, since the second embodiment is different from the first embodiment, only a part of the configuration of the vehicle 1 and a part of the control processing of the control device 10 are different from the first embodiment, so the same constituent parts or the same functional parts are used as the first embodiment. The same reference numerals as those in the first embodiment will not be described in detail.
[0276] The second embodiment uses a simpler vehicle mode than the first embodiment, and controls only the automatic steering device 3B in the vehicle 1 actuator 3 so that the deviation of the state amount of the vehicle mode from the actual vehicle 1 is close to zero.
[0277] At this time, in this embodiment, the automatic steering device 3B can actively operate only the steering angles of the front wheels W1 and W2 via an actuator such as a motor. Therefore, ...
no. 3 approach
[0326] Hereinafter, a third embodiment of the present invention will be described with reference to FIGS. 8 to 14. Fig. 8 is a block diagram showing the functional configuration of a vehicle control device according to a third embodiment. As shown in FIG. 8, the third embodiment has a script creation unit 98 instead of the feedforward operation amount determination unit 74 in the first embodiment. In addition, the sensory feedback notification unit 90 not only has the output from the distributor 88, but also transmits information from the script creation unit 98 to the sensory feedback notification unit 90. The other structure is the same as that of the first embodiment.
[0327] The outline of the script creation unit 98 will be described. The script creation unit 98 is based on the time of driving operation input (steering angle, accelerator operation amount, brake operation amount, shift position, etc.) up to the current time (this time) in each control processing cycle of the ...
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Abstract
A control device for a vehicle has vehicle model motion means (94) and control means (96) responsive to state quantity deviation. The vehicle model motion means (94) determines vehicle motion (vehicle model motion), representing dynamic characteristics of a vehicle (1), on a vehicle model (72) according to the amount of operation, such as a steering angle, by a driver. The control means (96) determines inputs to actuator control means (92) (means for operating an actuator device (3) of an actual vehicle (70)) of the actual vehicle (1) and to vehicle model motion determination means (94) based on a feedback rule and according to deviation (state quantity deviation) between the state quantities (model state quantities such as a vehicle position and attitude) of the vehicle model motion and the state quantities of motion of the actual vehicle (1). Not only the motion of the actual vehicle but also the vehicle model motion are operated depending on state quantity deviation, so that robustness for disturbance factors or variation in the factors can be increased while operation control for actuators suitable to a maximum extent to behavior of an actual vehicle is performed.
Description
Technical field [0001] The present invention relates to a control device for vehicles with multiple wheels, such as automobiles (engine automobiles), hybrid automobiles, electric automobiles, and two-wheeled motorcycles. Background technique [0002] In automobiles and other vehicles, as the main mechanism, there are provided: a drive and brakesystem that transmits driving force from a transmission force generation source such as an engine to the wheels or applies braking force to the wheels, and a steering system for steering the steering wheel of a vehicle ( Steering system), and a suspension system that elastically supports the vehicle body on the wheels. In addition, it is well known that in recent years, these systems not only act passively in response to the driver's manipulation of the steering wheel (steering wheel), accelerator pedal, brake pedal, etc. (manual operation), but also by installing various types of electric or oil The pressure-type actuator actively (active...
Claims
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