Driving assistance method and driving assistance device

Abstract

In the driving assist method of the present invention, a target value of a vehicle body slip angle, which is an angle from the front-rear direction of the vehicle body to the traveling direction of the vehicle, is set as a target slip angle based on the vehicle speed and the steering angle (S2), and the actual vehicle body slip angle, which is the actual slip angle, is estimated or detected (S3). When the sign of the vehicle body slip angle rotating in the turning direction of the vehicle is set to positive and the sign of the vehicle body slip angle rotating in the direction opposite to the turning direction is set to negative, the target braking / driving force is set by correcting the requested braking / driving force by increasing the braking / driving force of the rear wheels or reducing the braking / driving force generated at the front wheels when the actual slip angle is greater than the target slip angle, and by correcting the requested braking / driving force by reducing the braking / driving force of the rear wheels or increasing the braking / driving force generated at the front wheels when the actual slip angle is less than the target slip angle, so that the vehicle generates the target braking / driving force (S4-S6).

Description

Technical Field

[0001] The invention relates to a driving assistance method and a driving assistance device. Background Art

[0002] Patent Document 1 below describes a torque control device that increases torque distribution to the front wheels when the actual yaw rate is greater than a target yaw rate and increases torque distribution to the rear wheels when the actual yaw rate is less than the target yaw rate in order to improve cornering performance.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 3-70633

[0006] Problems to be Solved by the Invention

[0007] The driver can achieve the desired yaw rate by operating the steering wheel, but cannot achieve the desired yaw rate and the desired body slip angle at the same time. If the body slip angle is too large or too small, the driver will be affected by the deviation of the line of sight relative to the direction of travel of the vehicle. Therefore, the driver may over-steer or under-steer. As a result, it may be difficult to perform the steering operation to turn the vehicle along the desired driving route. Summary of the invention

[0008] An object of the present invention is to facilitate a steering operation for turning a vehicle along a desired travel route.

[0009] In a driving assist method according to one embodiment of the present invention, a vehicle speed is detected, a steering angle of a steering wheel is detected, a requested braking / driving force is set according to an operation amount of an accelerator pedal or a brake pedal by a driver, a target value of a vehicle body slip angle, which is an angle from a front-rear direction of a vehicle body to a traveling direction of the vehicle, is set as a target slip angle based on the vehicle speed and the steering angle, an actual vehicle body slip angle, which is an actual slip angle, is estimated or detected, and when a sign of a vehicle body slip angle rotating in a turning direction of the vehicle is set to positive and a sign of a vehicle body slip angle rotating in a direction opposite to the turning direction is set to negative, the requested braking / driving force is corrected by increasing the braking / driving force of rear wheels or reducing the braking / driving force generated at the front wheels when the actual slip angle is greater than the target slip angle, and by reducing the braking / driving force of rear wheels or increasing the braking / driving force generated at the front wheels when the actual slip angle is less than the target slip angle, thereby setting the target braking / driving force so that the vehicle generates the target braking / driving force.

[0010] Effects of the Invention

[0011] According to the present invention, it is possible to easily perform a steering operation for turning a vehicle along a desired travel route.

[0012] The objects and advantages of the present invention will be embodied and realized by the elements and combinations thereof shown in the scope of the claims. The above general description and the following detailed description are only examples and illustrations and should not be understood as limiting the present invention as the scope of the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic configuration diagram of an example of a driving assistance device according to an embodiment.

[0014] Figure 2 (a) to (d) are explanatory diagrams of the vehicle body slip angle.

[0015] Figure 3 (a) to (d) are schematic diagrams showing examples of a target slip angle and an actual slip angle in a left turn.

[0016] Figure 4 (a) to (d) are schematic diagrams showing examples of a target slip angle and an actual slip angle in a right turn.

[0017] Figure 5 yes Figure 1 A block diagram of an example of the functional structure of a controller.

[0018] Figure 6 This is a block diagram showing an example of the functional configuration of a braking / driving force correction value calculation unit.

[0019] Figure 7 This is a flowchart of an example of the driving assistance method according to the embodiment.

[0020] Figure 8 It is a block diagram of a modified example of the functional configuration of the braking / driving force correction value calculation unit. DETAILED DESCRIPTION

[0021] (structure)

[0022] Figure 1 The driving assistance device 10 is a schematic structural diagram of an example of an embodiment. The driving assistance device 10 adjusts the body slip angle of the vehicle 1 by controlling the braking / driving force of at least one of the front wheels 2F (left front wheel 2FL and right front wheel 2FR) and the rear wheels 2R (left rear wheel 2RL and right rear wheel 2RR) of the vehicle 1, thereby assisting the driver in steering the vehicle 1.

[0023] The driving assistance device 10 includes a wheel speed sensor 11, a steering angle sensor 12, a switch (SW) 13, a yaw rate sensor 14, an acceleration sensor 15, a brake sensor 16, an accelerator opening sensor 17, a controller 18, a drive controller 19, an actuator 20, a steering device 21, a brake device 22, and a drive source 23.

[0024] The wheel speed sensor 11 detects the wheel speed Vw of the vehicle 1. For example, the wheel speed sensor 11 may detect the average of the wheel speeds of the left front wheel 2FL, the right front wheel 2FR, the left rear wheel 2RL, and the right rear wheel 2RR as the wheel speed Vw.

[0025] The steering angle sensor 12 detects the steering angle θs(s) of the steering wheel. In this specification, the sign of the left (counterclockwise) steering angle θs(s) is positive (+), and the sign of the right (clockwise) steering angle θs(s) is negative (-).

[0026] The switch (SW) 13 is an operation member that receives a selection input from an occupant of the vehicle 1 (eg, a driver) in order to select a response characteristic of the vehicle 1 in response to a driving operation of the driver.

[0027] For example, the switch 13 may be a switch for switching the driving mode as the driving characteristics of the vehicle 1. For example, the driving mode may include: a first mode (for example, a sports mode) in which the response characteristics of the vehicle 1 to the driver's driving operation are high, and a second mode (for example, an energy-saving mode) in which the response characteristics of the vehicle 1 to the driving operation are relatively mild. The response characteristics of the vehicle 1 to the driving operation may be, for example, the response characteristics of the steering angle of the running wheels to the operation of the steering wheel, the driving characteristics to the operation of the accelerator pedal, or the braking characteristics to the brake pedal. The controller 18 changes the response characteristics of the vehicle 1 to the driver's driving operation based on the setting state of the switch 13.

[0028] The yaw rate sensor 14 detects the yaw rate of the vehicle 1 .

[0029] The acceleration sensor 15 detects the lateral acceleration which is the acceleration in the vehicle width direction of the vehicle 1 .

[0030] The brake sensor 16 detects a brake operation amount Br which is an operation amount of a brake pedal by a driver.

[0031] The accelerator opening sensor 17 detects the accelerator operation amount Ac which is the operation amount of the accelerator pedal by the driver.

[0032] The controller 18 is an electronic control unit (ECU: Electronic Control Unit) that performs driving assist control of the vehicle 1. The controller 18 includes peripheral components such as a processor 18a and a storage device 18b. The processor 18a may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The storage device 18b may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 18b may include a register, a cache memory, a ROM (Read Only Memory) used as a main storage device, and a RAM (Random Access Memory) and other memories. For example, the functions of the controller 18 described below are realized by the processor 18a executing a computer program stored in the storage device 18b.

[0033] In addition, the controller 18 may be formed by dedicated hardware for executing each information processing described below. For example, the controller 18 may include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 18 may also include a programmable logic device (PLD: Programmable Logic Device) such as a field programmable gate array (FPGA: Field-Programmable Gate Array).

[0034] The drive controller 19 is an electronic control unit that controls the drive force generated by the drive source 23 on at least one of the front wheel 2F and the rear wheel 2R based on the accelerator operation amount Ac detected by the accelerator opening sensor 17 and the braking / driving force correction value Cr set by the controller 18. Specifically, the drive controller 19 calculates the pre-correction target driving force Fd0 based on the accelerator operation amount Ac. The drive controller 19 causes the drive source 23 to generate the target driving force Fd obtained by correcting the pre-correction target driving force Fd0 with the braking / driving force correction value Cr set by the controller 18.

[0035] The drive controller 19 includes peripheral components such as a processor and a storage device. The processor may be, for example, a CPU or an MPU. The storage device may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device may include a register, a cache memory, a ROM and a RAM used as a main storage device, etc. The functions of the drive controller 19 described below are realized, for example, by causing the processor to execute a computer program stored in the storage device. The drive controller 19 may be formed by dedicated hardware for executing each information processing described below. For example, the drive controller 19 may have a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the drive controller 19 may have a PLD such as an FPGA, etc.

[0036] The drive controller 19 may be a controller separate from the controller 18 , or the drive controller 19 and the controller 18 may be an integrated controller.

[0037] The actuator 20 operates the steering device 21 and the brake device 22 according to the control signal from the controller 18 to generate the vehicle behavior of the vehicle 1. The actuator 20 includes a steering actuator and a brake control actuator. The steering actuator operates the steering device 21 to control the steering direction and steering amount of the vehicle 1. The brake control actuator operates the brake device 22 to generate friction braking force and control the front and rear deceleration of the vehicle 1.

[0038] Next, the driving assistance control of the driving assistance device 10 according to the embodiment will be described. As described above, the driver can achieve a desired yaw rate by operating the steering wheel, but cannot achieve a desired yaw rate and a desired vehicle body slip angle at the same time.

[0039] Reference Figure 2 (a)~ Figure 2 (d) In this specification, the "body slip angle" is defined as the angle β from the body front-rear direction db of the vehicle 1 to the traveling direction dd of the vehicle 1. Figure 2 (a)~ Figure 2 In (d), reference symbol P indicates the center of gravity of the vehicle 1, and reference symbol Ld indicates the travel path (travel track) of the vehicle 1 during the turn.

[0040] In this specification, the sign of the vehicle body slip angle β of the left rotation (counterclockwise) is set to positive (+), and the sign of the vehicle body slip angle β of the right rotation (clockwise) is set to negative (-).

[0041] like Figure 2 As shown in (a), when the front-rear direction db of the vehicle body in a left turn is more toward the outside of the turn than the traveling direction dd, the sign of the vehicle body slip angle β is positive, as shown in Figure 2 As shown in (b), when the vehicle body front-rear direction db is directed toward the inner side of the turn than the traveling direction dd during a left turn, the sign of the vehicle body slip angle β is negative.

[0042] like Figure 2 As shown in (c), when the front-rear direction db of the vehicle body in a right turn is more toward the outside of the turn than the traveling direction dd, the sign of the vehicle body slip angle β is negative, as shown in Figure 2 As shown in (d), when the vehicle body front-rear direction db is directed toward the inner side of the turn than the traveling direction dd during a right turn, the sign of the vehicle body slip angle β is positive.

[0043] In the following description, Figure 2 (a) and Figure 2As shown in (c), sometimes the state in which the front-rear direction db of the vehicle body during a turn is more toward the outside of the turn than the traveling direction dd is expressed as an "outward state", such as Figure 2 (b) and Figure 2 As shown in (d), a state in which the front-rear direction db of the vehicle body during a turn is directed toward the inner side of the turn than the traveling direction dd is expressed as an “inward-facing state”.

[0044] Generally, when the vehicle speed is relatively low, the vehicle 1 tends to be in an outward state, and when the vehicle speed is relatively high, the vehicle 1 tends to be in an inward state. When the vehicle 1 is in an outward state, the driver tends to increase the steering amount too much because the driver's line of sight is offset from the direction of travel dd of the vehicle 1. On the contrary, the driver tends to reduce the steering amount when the vehicle is in an inward state. Therefore, when the vehicle body slip angle is too large or too small, it is sometimes difficult to perform the steering operation to turn the vehicle along the desired driving route.

[0045] Therefore, the driving assistance device 10 of the embodiment sets a target slip angle βt(s) which is a target value of the vehicle body slip angle based on the vehicle speed V and the steering angle θs(s). The target slip angle βt(s) is an angle from a target value of the vehicle body front-rear direction db (hereinafter sometimes referred to as "target vehicle body front-rear direction dbt") to the traveling direction dd of the vehicle 1. The driving assistance device 10 controls the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R so that the actual vehicle body slip angle, that is, the actual slip angle βa(s), approaches the target slip angle βt(s).

[0046] Figure 3 (a)~ Figure 3 (d) is a schematic diagram showing an example of the target slip angle βt(s) and the actual slip angle βa(s) when turning left.

[0047] exist Figure 3 In the example of (a), the front-to-back direction db of the vehicle body is more toward the outside of the turn than the traveling direction dd (βa(s)>0), and the target front-to-back direction dbt of the vehicle body is more toward the inside of the turn than the traveling direction dd (βt(s)<0). That is, the actual slip angle βa(s) is greater than the target slip angle βt(s). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is controlled to reduce the actual slip angle βa(s) (i.e., the front-to-back direction db of the vehicle body rotates toward the inside of the turn). For example, the braking / driving force of the front wheel 2F is reduced, or the braking / driving force of the rear wheel 2R is increased. The braking / driving force of the front wheel 2F may also be reduced and the braking / driving force of the rear wheel 2R may be increased.

[0048] exist Figure 3In the example (b), both the vehicle body front-to-back direction db and the target vehicle body front-to-back direction dbt are directed toward the outside of the turn than the traveling direction dd, but the vehicle body front-to-back direction db is directed toward the outside of the turn than the target vehicle body front-to-back direction dbt. That is, the actual slip angle βa(s) is greater than the target slip angle βt(s) (βa(s)>βt(s)>0). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is also controlled to reduce the actual slip angle βa(s).

[0049] exist Figure 3 In the example of (c), the front-to-back direction db of the vehicle body is more toward the inner side of the turn than the traveling direction dd (βa(s)<0), and the target front-to-back direction dbt of the vehicle body is more toward the outer side of the turn than the traveling direction dd (βt(s)>0). That is, the actual slip angle βa(s) is smaller than the target slip angle βt(s). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is controlled so as to increase the actual slip angle βa(s) (i.e., the front-to-back direction db of the vehicle body rotates toward the outer side of the turn). For example, the braking / driving force of the front wheel 2F is increased, or the braking / driving force of the rear wheel 2R is reduced. The braking / driving force of the front wheel 2F may also be increased and the braking / driving force of the rear wheel 2R may be reduced.

[0050] exist Figure 3 In the example of (d), both the vehicle body front-to-back direction db and the target vehicle body front-to-back direction dbt are more toward the inner side of the turn than the traveling direction dd, but the vehicle body front-to-back direction db is more toward the inner side of the turn than the target vehicle body front-to-back direction dbt. That is, the actual slip angle βa(s) is smaller than the target slip angle βt(s) (βa(s)<βt(s)<0). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is also controlled to increase the actual slip angle βa(s).

[0051] Figure 4 (a)~ Figure 4 (d) is a schematic diagram showing an example of the target slip angle βt(s) and the actual slip angle βa(s) when turning right.

[0052] exist Figure 4 In the example of (a), the front-to-back direction db of the vehicle body is more toward the outside of the turn than the traveling direction dd (βa(s)<0), and the target front-to-back direction dbt of the vehicle body is more toward the inside of the turn than the traveling direction dd (βt(s)>0). That is, the actual slip angle βa(s) is smaller than the target slip angle βt(s). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is controlled to increase the actual slip angle βa(s) (i.e., the front-to-back direction db of the vehicle body rotates toward the inside of the turn). For example, the braking / driving force of the front wheel 2F is reduced, or the braking / driving force of the rear wheel 2R is increased. The braking / driving force of the front wheel 2F may also be reduced and the braking / driving force of the rear wheel 2R may be increased.

[0053] exist Figure 4 In the example (b), both the vehicle body front-to-back direction db and the target vehicle body front-to-back direction dbt are directed toward the outside of the turn than the traveling direction dd, but the vehicle body front-to-back direction db is directed toward the outside of the turn than the target vehicle body front-to-back direction dbt. That is, the actual slip angle βa(s) is smaller than the target slip angle βt(s) (βa(s)<βt(s)<0). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is also controlled to increase the actual slip angle βa(s).

[0054] exist Figure 4 In the example of (c), the front-to-back direction db of the vehicle body is more toward the inner side of the turn than the traveling direction dd (βa(s)>0), and the target front-to-back direction dbt of the vehicle body is more toward the outer side of the turn than the traveling direction dd (βt(s)<0). That is, the actual slip angle βa(s) is greater than the target slip angle βt(s). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is controlled to reduce the actual slip angle βa(s) (i.e., the front-to-back direction db of the vehicle body rotates toward the outer side of the turn). For example, the braking / driving force of the front wheel 2F is increased, or the braking / driving force of the rear wheel 2R is reduced. The braking / driving force of the front wheel 2F may also be increased and the braking / driving force of the rear wheel 2R may be reduced.

[0055] exist Figure 4 In the example of (d), both the vehicle body front-to-back direction db and the target vehicle body front-to-back direction dbt are more toward the inner side of the turn than the traveling direction dd, but the vehicle body front-to-back direction db is more toward the inner side of the turn than the target vehicle body front-to-back direction dbt. That is, the actual slip angle βa(s) is greater than the target slip angle βt(s) (βa(s)>βt(s)>0). In this case, the braking / driving force of at least one of the front wheels 2F and the rear wheels 2R is also controlled to reduce the actual slip angle βa(s).

[0056] This allows the vehicle body slip angle β (actual slip angle βa(s)) of the vehicle 1 to be appropriately controlled, thereby preventing the vehicle body slip angle β from becoming too large or too small. As a result, steering operations for turning the vehicle along a desired travel route are facilitated.

[0057] In addition, it should be noted that Figure 3 (a)~ Figure 3 In the example of a left turn (d), the sign of the body slip angle β rotating in the turning direction of the vehicle 1 is defined as positive, and Figure 4 (a)~ Figure 4 In the example of right turn (d), the sign of the vehicle body slip angle β rotating in the turning direction of the vehicle 1 is defined as negative.

[0058] Therefore, even in the case of a right turn, if the sign of the body slip angle β rotating in the turning direction of the vehicle 1 is defined as positive, and the sign of the body slip angle β rotating in the opposite direction to the turning direction is defined as negative, then when the actual slip angle βa(s) is greater than the target slip angle βt(s) (i.e., Figure 3 (a) Figure 3 (b) Figure 4 (a) and Figure 4 (b), when the vehicle body front-to-back direction db is more toward the outside of the turn than the target vehicle body front-to-back direction dbt), the braking / driving force of the front wheel 2F is reduced, or the braking / driving force of the rear wheel 2R is increased. Alternatively, the braking / driving force of the front wheel 2F is reduced and the braking / driving force of the rear wheel 2R is increased. On the other hand, when the actual slip angle βa(s) is less than the target slip angle βt(s) (i.e., when the actual slip angle βa(s) is less than the target slip angle βt(s) (i.e., when the actual slip angle βa(s) is less than the target slip angle βt(s) Figure 3 (c) Figure 3 (d) Figure 4 (c) and Figure 4 (d), when the front-rear direction db of the vehicle body is more toward the inner side of the turn than the target front-rear direction dbt of the vehicle body, the braking / driving force of the front wheel 2F is increased, or the braking / driving force of the rear wheel 2R is reduced. Alternatively, the braking / driving force of the front wheel 2F is increased and the braking / driving force of the rear wheel 2R is reduced.

[0059] Figure 5 1 is a block diagram showing an example of the functional configuration of the controller 18. The controller 18 includes a vehicle speed calculation unit 30, a request torque calculation unit 31, an actual slip angle estimation unit 32, a target slip angle calculation unit 33, and a braking / driving force correction value calculation unit 34.

[0060] The controller 18 receives inputs of the wheel speed Vw detected by the wheel speed sensor 11, the steering angle θs(s) detected by the steering angle sensor 12, the brake operation amount Br detected by the brake sensor 16, the accelerator operation amount Ac detected by the accelerator opening sensor 17, and the pre-corrected target driving force Fd0 calculated by the drive controller 19.

[0061] The vehicle speed calculation unit 30 calculates the vehicle speed V of the vehicle 1 based on the wheel speed Vw, and inputs the information of the vehicle speed V to the actual slip angle estimation unit 32 and the target slip angle calculation unit 33. The requested torque calculation unit 31 calculates the requested braking / driving torque Td corresponding to the driver's brake operation amount Br or accelerator operation amount Ac, and inputs the information of the requested braking / driving torque Td to the target slip angle calculation unit 33.

[0062] The actual slip angle estimating unit 32 estimates the actual slip angle βa(s) based on at least the vehicle speed V and the steering angle θs(s). For example, the actual slip angle estimating unit 32 may estimate the actual slip angle βa(s) based on the following equation (1).

[0063] (Mathematical formula 1)

[0064]

[0065] (Mathematical formula 2)

[0066]

[0067] (Mathematical formula 3)

[0068]

[0069] (Mathematical formula 4)

[0070]

[0071] (Mathematical formula 5)

[0072]

[0073] (Mathematical formula 6)

[0074]

[0075] In the above formula, m is the weight of the vehicle, I is the yaw radius of inertia, l is the wheelbase, and l f is the distance from the center of gravity P of vehicle 1 to the front wheel axle, l r is the distance from the center of gravity P to the rear wheel axle, K f is the equivalent deflection stiffness of the front wheel, K r is the equivalent deflection stiffness of the rear wheel.

[0076] The target slip angle calculation unit 33 estimates the target slip angle βt(s) based on at least the vehicle speed V and the steering angle θs(s). For example, the target slip angle calculation unit 33 may estimate the target slip angle βt(s) based on the following equation (2).

[0077] (Mathematical formula 7)

[0078]

[0079] K1 in formula (2) is the slip angle gain. By appropriately adjusting the absolute value and sign of the slip angle gain K1, the size of the target slip angle βt(s) can be set to increase or decrease relative to the actual slip angle βa(s). That is, it is possible to set how much the target vehicle body front-to-back direction dbt is tilted toward the inside or outside of the turn relative to the vehicle body front-to-back direction db.

[0080] For example, when the vehicle speed V is relatively low, the vehicle 1 tends to be oriented outward, and when the vehicle speed V is relatively high, the vehicle 1 tends to be oriented inward. Therefore, the target slip angle calculation unit 33 may set the target slip angle βt(s) according to the vehicle speed V.

[0081] Specifically, when the sign of the body slip angle β rotating in the turning direction of the vehicle 1 is set to positive and the sign of the body slip angle β rotating in the direction opposite to the turning direction is set to negative, for example, when the vehicle speed V is high and the vehicle 1 is likely to be in the inward-facing state, a larger target slip angle βt(s) may be set than when the vehicle speed V is low and the vehicle 1 is likely to be in the outward-facing state. For example, the higher the vehicle speed V, the larger the target slip angle may be set. Thus, when the vehicle speed V is high, the vehicle 1 can be prevented from being in the inward-facing state. In addition, when the vehicle speed V is low, the vehicle 1 is prevented from being in the outward-facing state and is likely to be in the inward-facing state.

[0082] The braking / driving force correction value calculation unit 34 calculates a braking / driving force correction value Cr for correcting the required braking / driving force corresponding to the driver's brake operation amount Br or accelerator operation amount Ac based on the actual slip angle βa(s) and the target slip angle βt(s).

[0083] Figure 6 2 is a block diagram showing an example of the functional configuration of the braking / driving force correction value calculation unit 34. Figure 6 In the embodiment, a configuration is exemplified in which a braking / driving force correction value Cr for correcting the driving force of the rear wheel 2R is calculated based on the actual slip angle βa(s) and the target slip angle βt(s).

[0084] The braking / driving force correction value calculation unit 34 includes a subtractor 40 , a gain multiplication unit 41 , a sign inversion unit 42 , a sign calculation unit 43 , multipliers 44 and 46 , and a limiter 45 .

[0085] The subtractor 40 subtracts the actual slip angle βa(s) from the target slip angle βt(s) to calculate the slip angle difference Δβ=βt(s)−βa(s). The gain multiplier 41 outputs the product P×Δβ obtained by multiplying the slip angle difference Δβ by the proportional gain P to the multiplier 44 .

[0086] The sign inversion unit 42 inverts the sign of the steering angle θs(s), and the sign calculation unit 43 outputs a value "1" when the sign of the steering angle (-1×θs(s)) after the sign inversion is positive, and outputs "-1" when it is negative. The multiplier 44 normalizes the sign of the slip angle difference Δβ by multiplying the output of the sign calculation unit 43 by the slip angle difference Δβ.

[0087] Therefore, whether in the case of a left turn or a right turn, when the vehicle body front-to-back direction db is more toward the outside of the turn than the target vehicle body front-to-back direction dbt, the sign of the slip angle difference Δβ is set to positive. Therefore, the sign of the braking / driving force correction value Cr is set to positive. In addition, when the vehicle body front-to-back direction db is more toward the inside of the turn than the target vehicle body front-to-back direction dbt, the sign of the slip angle difference Δβ is set to negative. Therefore, the sign of the braking / driving force correction value Cr is set to negative.

[0088] The limiter 45 limits the upper and lower limits of the output of the multiplier 44 (ie, the slip angle difference Δβ after the sign is normalized), and the multiplier 46 multiplies the limited slip angle difference Δβ by the pre-correction target driving force Fdo to calculate the braking / driving force correction value Cr.

[0089] Figure 1 The drive controller 19 adds the braking / driving force correction value Cr to the pre-correction target driving force Fd0 to calculate the target driving force Fd, and controls the driving source 23 so that the driving force generated at the rear wheel 2R becomes the target driving force Fd.

[0090] Therefore, when the vehicle body front-to-back direction db is more toward the outer side of the turn than the target vehicle body front-to-back direction dbt, the driving force of the rear wheel 2R increases, and the vehicle body slip angle β is controlled so that the vehicle body front-to-back direction db rotates toward the inner side of the turn. On the contrary, when the vehicle body front-to-back direction db is more toward the inner side of the turn than the target vehicle body front-to-back direction dbt, the driving force of the rear wheel 2R decreases, and the vehicle body slip angle β is controlled so that the vehicle body front-to-back direction db rotates toward the outer side of the turn.

[0091] Figure 6 The braking / driving force correction value calculation unit 34 calculates the braking / driving force correction value Cr for correcting the driving force of the rear wheel 2R, but the braking / driving force correction value calculation unit 34 may also calculate the braking / driving force correction value Cr for correcting the driving force of the front wheel 2F. In this case, the sign of the slip angle difference δβ is changed to Figure 6 Normalized in the opposite way. Thus, when the vehicle body front-to-back direction db is more toward the outside of the turn than the target vehicle body front-to-back direction dbt, the sign of the braking / driving force correction value Cr is set to negative, and when the vehicle body front-to-back direction db is more toward the inside of the turn than the target vehicle body front-to-back direction dbt, the sign of the braking / driving force correction value Cr is set to positive.

[0092] Figure 1 The drive controller 19 adds the braking / driving force correction value Cr to the pre-correction target driving force Fd0 to calculate the target driving force Fd, and controls the drive source 23 so that the driving force generated at the front wheel 2F becomes the target driving force Fd.

[0093] Therefore, when the vehicle body front-to-back direction db is more toward the outer side of the turn than the target vehicle body front-to-back direction dbt, the driving force of the front wheel 2F is reduced, and the vehicle body slip angle β is controlled so that the vehicle body front-to-back direction db is rotated toward the inner side of the turn. On the contrary, when the vehicle body front-to-back direction db is more toward the inner side of the turn than the target vehicle body front-to-back direction dbt, the driving force of the front wheel 2F is increased, and the vehicle body slip angle β is controlled so that the vehicle body front-to-back direction db is rotated toward the outer side of the turn.

[0094] Furthermore, the braking / driving force correction value calculation unit 34 may also simultaneously calculate the braking / driving force correction value CrF for correcting the driving force of the front wheel 2F and the braking / driving force correction value CrR for correcting the driving force of the rear wheel 2R as the braking / driving force correction value Cr. In this case, the drive controller 19 reduces the driving force of the front wheel 2F and increases the driving force of the rear wheel 2R when the vehicle body front-to-back direction db is more toward the outside of the turn than the target vehicle body front-to-back direction dbt. On the contrary, when the vehicle body front-to-back direction db is more toward the inside of the turn than the target vehicle body front-to-back direction dbt, the driving force of the front wheel 2F is increased and the driving force of the rear wheel 2R is reduced. That is, the sign of the braking / driving force correction value CrF is different from the sign of the braking / driving force correction value CrR. The magnitude of the braking / driving force correction value CrF and the magnitude of the braking / driving force correction value CrR may be equal or different. When the magnitude of the braking / driving force correction value CrF is equal to the magnitude of the braking / driving force correction value CrR, the braking / driving force correction value Cr of either the front wheel 2F or the rear wheel 2R can be calculated, and the sign of the calculated braking / driving force correction value Cr is reversed and set as the braking / driving force correction value (-Cr) of the other. By setting the braking / driving force correction value CrF and the braking / driving force correction value CrR to correction values ​​of the same magnitude with different signs, it is possible to prevent the overall driving force of the vehicle 1 from changing due to the correction of the wheel braking / driving force of the front wheel 2F and the rear wheel 2R.

[0095] In addition, when the vehicle 1 is decelerating (i.e., when the requested braking / driving torque Td is the braking torque), the braking / driving force correction value calculation unit 34 may calculate the braking / driving force correction value Cr for correcting the friction braking force of the braking device 22 or the regenerative braking force of the driving source 23, similarly to the braking / driving force correction value Cr for correcting the pre-correction target driving force Fd0 described above. That is, when the vehicle body front-back direction db is more toward the outer side of the turn than the target vehicle body front-back direction dbt, the braking / driving force correction value Cr for reducing the braking force of the front wheel 2F or the braking / driving force correction value Cr for increasing the braking force of the rear wheel 2R may be calculated. The braking / driving force correction value Cr for reducing the braking force of the front wheel 2F and increasing the braking force of the rear wheel 2R may also be calculated.

[0096] On the contrary, when the vehicle body front-rear direction db is toward the inner side of the turn than the target vehicle body front-rear direction dbt, the braking / driving force correction value Cr for increasing the braking force of the front wheel 2F or the braking / driving force correction value Cr for reducing the braking force of the rear wheel 2R may be calculated. The braking / driving force correction value Cr for increasing the braking force of the front wheel 2F and reducing the braking force of the rear wheel 2R may also be calculated.

[0097] The drive controller 19 calculates a target regenerative braking force according to the amount of operation of the accelerator pedal or the brake pedal by the driver, and controls the drive source 23 to generate a regenerative braking force obtained by correcting the calculated target regenerative braking force using the braking / driving force correction value Cr.

[0098] Alternatively, the controller 18 calculates a target friction braking force according to the amount of operation of the accelerator pedal or the brake pedal by the driver, and controls the brake control actuator of the actuator 20 to generate a friction braking force obtained by correcting the calculated target friction braking force using the braking / driving force correction value Cr.

[0099] (action)

[0100] Figure 7 This is a flowchart of an example of the driving assistance method according to the embodiment.

[0101] In step S1, the steering angle sensor 12 detects the steering angle θs(s) of the steering wheel. The controller 18 detects the vehicle speed V of the vehicle 1. The drive controller 19 calculates the pre-correction target drive force Fd0.

[0102] In step S2, the controller 18 estimates a target slip angle βt(s) based on at least the vehicle speed V and the steering angle θs(s).

[0103] In step S3, the controller 18 estimates the actual slip angle βa(s) based on at least the vehicle speed V and the steering angle θs(s).

[0104] In step S4 , the controller 18 calculates the slip angle difference Δβ=βt(s)−βa(s).

[0105] In step S5 , the controller 18 calculates the braking / driving force correction value Cr based on the slip angle difference Δβ.

[0106] In step S6 , the drive controller 19 calculates the target drive force Fd generated at the wheels by correcting the pre-correction target drive force Fd0 using the braking / driving force correction value Cr, and causes the drive source 23 to generate the target drive force Fd. The process then ends.

[0107] (Variation Example)

[0108] The following describes a modified example of the embodiment. In addition, in the following modified example, the sign of the body slip angle β rotating in the turning direction of the vehicle 1 is defined as positive, and the sign of the body slip angle β rotating in the direction opposite to the turning direction is defined as negative. In addition, the sign of the requested braking / driving torque Td as the driving torque is defined as positive, and the sign of the requested braking / driving torque Td as the braking torque is defined as negative.

[0109] (1) When a correction value for increasing the braking / driving force of the front wheel 2F and a correction value for decreasing the braking / driving force of the rear wheel 2R are calculated as the braking / driving force correction value Cr, or when a correction value for decreasing the braking / driving force of the front wheel 2F and a correction value for increasing the braking / driving force of the rear wheel 2R are calculated, the target slip angle calculation unit 33 sets a smaller target slip angle βt(s) than when the requested braking / driving torque Td is small when the requested braking / driving torque Td is large. For example, the larger the requested braking / driving torque Td is, the smaller the target slip angle βt(s) can be set. For example, when the requested braking / driving torque Td is the driving torque, a smaller target slip angle βt(s) can be set than when the requested braking / driving torque Td is the braking force. Thus, understeering during driving and oversteering during braking can be suppressed.

[0110] (2) The target slip angle calculation unit 33 may also set the target slip angle smaller when the lateral acceleration is large than when the lateral acceleration is small. For example, the target slip angle βt(s) may be set smaller as the lateral acceleration is larger. Thus, the occurrence of understeer can be suppressed when the lateral acceleration is large.

[0111] (3) When the driving mode of the vehicle 1 is set by the occupant operating the switch 13 (i.e., when the response characteristics of the vehicle 1 in response to the driver's driving operation are set), the target slip angle calculation unit 33 may set a larger target slip angle βt(s) when the response characteristics are high than when the response characteristics are low. For example, when the driving mode of the vehicle 1 is the first mode, a larger target slip angle βt(s) may be set than when the driving mode is the second mode. Thus, the body slip angle β of the vehicle 1 can be set according to the occupant's preference.

[0112] (4) The controller 18 sets a target yaw rate based on the steering angle θs(s) and the vehicle speed V, detects the actual yaw rate generated in the vehicle 1, that is, the actual yaw rate, and when the actual yaw rate is smaller than the target yaw rate, the target braking / driving force can be set by correcting the requested braking / driving force by increasing the braking / driving force of the rear wheels 2R or reducing the braking / driving force generated in the front wheels. Thus, when the actual yaw rate is smaller than the target yaw rate (i.e., when understeering occurs), the vehicle body slip angle β can be controlled so that the vehicle 1 is facing inward, thereby improving the driving feel.

[0113] (5) The braking / driving force correction value calculation unit 34 may further calculate the braking / driving force correction value Cr based on the slip angle difference Δβ and the slip angle velocity difference Δβ′ obtained by subtracting the actual slip angle velocity as the differential value of the actual slip angle βa(s) from the target slip angle velocity as the differential value of the target slip angle βt(s). Thus, the responsiveness of the braking / driving force correction value Cr to the changes in the target slip angle βt(s) and the actual slip angle βa(s) can be improved.

[0114] Figure 8 1 is a block diagram of a modified example of the functional configuration of the braking / driving force correction value calculation unit 34. Figure 6 In addition to the functional configuration described above, the braking / driving force correction value calculation unit 34 further includes differentiators 50 and 51 , a subtractor 52 , a gain multiplication unit 53 , multipliers 54 and 55 , and an adder 56 .

[0115] Differentiators 50 and 51 and subtractor 52 calculate slip angular velocity difference Δβ'. Gain multiplication unit 53 outputs the product D×Δβ' obtained by multiplying slip angular velocity difference Δβ' by differential gain D to multiplier 54. Multiplier 54 normalizes the sign of slip angular velocity difference Δβ' by multiplying the output of sign calculation unit 43 by slip angular velocity difference Δβ'. Multiplier 55 multiplies the output of multiplier 54 (i.e., slip angular velocity difference Δβ' after sign normalization) by target driving force before correction Fd0, and adder 56 sums the multiplication results of multipliers 46 and 55 to calculate braking / driving force correction value Cr.

[0116] Thus, the braking / driving force correction value calculation unit 34 of the modified example calculates the braking / driving force correction value Cr for increasing the driving force of the rear wheel 2R when the actual slip angular velocity is greater than the target slip angular velocity, and for reducing the driving force of the rear wheel 2R when the actual slip angular velocity is less than the target slip angular velocity.

[0117] As in the above embodiment, by comparing the sign of the slip angular velocity difference Δβ' with Figure 8By normalizing conversely, the braking / driving force correction value Cr for correcting the driving force of the front wheel 2F can be calculated. In addition, the braking / driving force correction value Cr for correcting the braking force may be calculated similarly to the braking / driving force correction value Cr for correcting the driving force.

[0118] (Effects of Embodiments)

[0119] (1) The controller 18 detects the vehicle speed of the vehicle 1. The steering angle sensor 12 detects the steering angle of the steering wheel. The controller 18 sets a requested braking / driving force according to the amount of operation of the accelerator pedal or the brake pedal by the driver, sets a target value of the body slip angle β, which is an angle from the front-rear direction db of the body to the traveling direction dd of the vehicle 1, as a target slip angle βt(s) based on the vehicle speed and the steering angle, estimates or detects the actual body slip angle, which is the actual slip angle βa(s), and sets the target braking / driving force by correcting the requested braking / driving force in a manner that increases the braking / driving force of the rear wheels or reduces the braking / driving force generated at the front wheels when the actual slip angle βa(s) is greater than the target slip angle βt(s), or by correcting the requested braking / driving force in a manner that reduces the braking / driving force of the rear wheels or increases the braking / driving force generated at the front wheels when the actual slip angle βa(s) is less than the target slip angle βt(s). The driving source 23 or the actuator 20 and the steering device 21 generate target braking / driving forces for the vehicle.

[0120] Thus, the body slip angle β of the vehicle 1 can be appropriately controlled, so that the body slip angle can be prevented from becoming too large or too small. As a result, the steering operation for turning the vehicle along a desired travel route becomes easy.

[0121] (2) The controller 18 may also set the target braking / driving force by correcting the requested braking / driving force by increasing the braking / driving force of the rear wheels and reducing the braking / driving force generated at the front wheels when the actual slip angle βa(s) is smaller than the target slip angle βt(s), and by correcting the requested braking / driving force by reducing the braking / driving force of the rear wheels and increasing the braking / driving force generated at the front wheels when the actual slip angle βa(s) is larger than the target slip angle βt(s). This can prevent the braking / driving force of the entire vehicle 1 from changing due to correction of the wheel braking / driving force of the front wheels 2F and the rear wheels 2R.

[0122] (3) The controller 18 may set a larger target slip angle βt(s) when the vehicle speed is high than when the vehicle speed is low. This can prevent the vehicle 1 from turning outward when the vehicle speed V is relatively low, and prevent the vehicle 1 from turning inward when the vehicle speed V is relatively high.

[0123] All examples and conditional terms recorded herein are intended for the purpose of teaching in order to help readers understand the present invention and the concepts provided by the inventors for technological advancement, and should not be interpreted as being limited to the above examples and conditions specifically recorded and the structures of the examples in this specification related to the superiority and inferiority of the present invention. Although the embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions and modifications may be applied thereto without departing from the spirit and scope of the present invention.

[0124] Explanation of symbols

[0125] 1: vehicle, 2F: front wheel, 2R: rear wheel, 10: driving assist device, 11: wheel speed sensor, 12: steering angle sensor, 13: switch, 14: yaw rate sensor, 15: acceleration sensor, 16: brake sensor, 17: accelerator opening sensor, 18: controller, 18a: processor, 18b: storage device, 19: drive controller, 20: actuator, 21: steering device, 22: brake Device, 23: driving source, 30: vehicle speed calculation unit, 31: requested torque calculation unit, 32: actual slip angle estimation unit, 33: target slip angle calculation unit, 34: braking / driving force correction value calculation unit, 40, 52: subtractor, 41, 53: gain multiplication unit, 42: sign inversion unit, 43: sign calculation unit, 44, 46, 54, 55: multiplier, 45: limiter, 50, 51: differentiator, 56: adder

Claims

1. A driving assistance method, characterized in that: Detect the vehicle's speed, Detect the steering angle of the steering wheel, The requested braking / driving force is set according to the amount of operation of the accelerator pedal or the brake pedal by the driver, Based on the vehicle speed and the steering angle, a target value of a vehicle body slip angle, which is an angle from the front-rear direction of the vehicle body to the traveling direction of the vehicle, is set as a target slip angle, estimating or detecting an actual vehicle body slip angle, ie, an actual slip angle, based at least on the vehicle speed and the steering angle, When the sign of the vehicle body slip angle rotating in the turning direction of the vehicle is set to positive, and the sign of the vehicle body slip angle rotating in the direction opposite to the turning direction is set to negative, the target braking / driving force is set by correcting the requested braking / driving force in a manner of increasing the braking / driving force of both the right rear wheel and the left rear wheel or reducing the braking / driving force generated at both the right front wheel and the left front wheel when the actual slip angle is greater than the target slip angle, and by correcting the requested braking / driving force in a manner of reducing the braking / driving force of both the right rear wheel and the left rear wheel or increasing the braking / driving force generated at both the right front wheel and the left front wheel when the actual slip angle is less than the target slip angle, The vehicle is caused to generate the target braking / driving force.

2. The driving assistance method according to claim 1, characterized in that: The target braking / driving force is set by correcting the requested braking / driving force by increasing the braking / driving force of both the right rear wheel and the left rear wheel and reducing the braking / driving force generated at both the right front wheel and the left front wheel when the actual slip angle is greater than the target slip angle, and by correcting the requested braking / driving force by reducing the braking / driving force of both the right rear wheel and the left rear wheel and increasing the braking / driving force generated at both the right front wheel and the left front wheel when the actual slip angle is less than the target slip angle.

3. The driving assistance method according to claim 2, characterized in that: The sign of the requested braking / driving force as driving force is set to positive, and the sign of the requested braking / driving force as braking force is set to negative. When the requested braking / driving force is large, the target slip angle is set smaller than when the requested braking / driving force is small.

4. The driving assistance method according to claim 3, characterized in that: When the requested braking / driving force is a driving force, the target slip angle is set to be smaller than when the requested braking / driving force is a braking force.

5. The driving assistance method according to any one of claims 1 to 4, characterized in that: When the vehicle speed is high, the target slip angle is set larger than when the vehicle speed is low.

6. The driving assistance method according to any one of claims 1 to 5, characterized in that: detecting a lateral acceleration of the vehicle, When the lateral acceleration is large, the target slip angle is set to be smaller than when the lateral acceleration is small.

7. The driving assistance method according to any one of claims 1 to 6, characterized in that: Based on the selection input from the driver, changing the response characteristics of the vehicle in response to the driving operation of the driver, When the response characteristic is high, the target slip angle is set larger than when the response characteristic is low.

8. The driving assistance method according to any one of claims 1 to 7, characterized in that: The differential value of the target slip angle, i.e., the target slip angular velocity, and the differential value of the actual slip angle, i.e., the actual slip angular velocity, are calculated respectively. When the actual slip angular velocity is greater than the target slip angular velocity, the requested braking / driving force is corrected by increasing the braking / driving force of both the right rear wheel and the left rear wheel or reducing the braking / driving force generated by both the right front wheel and the left front wheel. When the actual slip angular velocity is less than the target slip angular velocity, the requested braking / driving force is corrected by reducing the braking / driving force of both the right rear wheel and the left rear wheel or increasing the braking / driving force generated by both the right front wheel and the left front wheel.

9. The driving assistance method according to any one of claims 1 to 7, characterized in that: A target yaw rate is set based on the steering angle and the vehicle speed, detecting an actual yaw rate occurring in the vehicle, i.e., an actual yaw rate, When the actual yaw rate is smaller than the target yaw rate, the target braking / driving force is set by correcting the requested braking / driving force by increasing the braking / driving force on both the right rear wheel and the left rear wheel or reducing the braking / driving force on both the right front wheel and the left front wheel.

10. A driving assist device, characterized in that: have: A vehicle speed sensor, which detects the speed of the vehicle; a steering angle sensor that detects a steering angle of the steering wheel; a controller for setting a requested braking / driving force according to an operation amount of an accelerator pedal or a brake pedal by a driver, setting a target value of a vehicle body slip angle, which is an angle from a front-rear direction of a vehicle body to a traveling direction of the vehicle, as a target slip angle based on the vehicle speed and the steering angle, estimating or detecting an actual vehicle body slip angle, which is an actual slip angle, based at least on the vehicle speed and the steering angle, and setting a target braking / driving force by correcting the requested braking / driving force in such a manner that the braking / driving force on both the right rear wheel and the left rear wheel is increased or the braking / driving force on both the right front wheel and the left front wheel is decreased when the actual slip angle is greater than the target slip angle, and by correcting the requested braking / driving force in such a manner that the braking / driving force on both the right rear wheel and the left rear wheel is decreased or the braking / driving force on both the right front wheel and the left front wheel is increased when the actual slip angle is less than the target slip angle; A driving force source or a braking device causes the vehicle to generate the target braking / driving force.

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