Vehicle control system and vehicle control program

Abstract

To make it possible to properly control a yaw motion of a vehicle irrespective of a physical condition of an individual driver without a necessity of adding an auxiliary apparatus or remodeling the vehicle.SOLUTION: A vehicle control system recognizes, for each driver, a maneuverable range of an input unit 41 which is used to perform a steering maneuver on an own vehicle V and generates a yaw motion target value for achieving a yaw motion on the basis of a maneuver quantity of the input unit 41 and the recognized maneuverable range. When there is a difference between the yaw motion target value and a yaw rate calculated using an actual maneuver quantity and a mathematical model of the own vehicle V, the vehicle control system computes an addition quantity to be added to the maneuver quantity in order to attain the yaw motion target value and outputs the addition quantity to a steering system 4.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control system and a vehicle control program used to control the yaw motion of a vehicle such as an automobile. [Background technology]

[0002] In recent years, vehicle control systems that electromechanically control steering actuators for vehicles such as automobiles have become known. For example, a vehicle control system described in Patent Document 1 electromechanically adjusts the steering angle of at least one wheelset of the automobile to control the yaw motion of the automobile.

[0003] Yaw motion is a rotational motion of a vehicle around a vertical axis that occurs when a driver operates the steering wheel while the vehicle is traveling, and is also called "yaw," "yawing," or "yawing motion." [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5911482 Summary of the Invention [Problem to be solved by the invention]

[0005] Now, when a vehicle driver has physical limitations due to various reasons such as upper limb disabilities or illness, the amount of operation of an input device used for steering, such as a steering wheel, is limited. The vehicle control system described in Patent Document 1 does not take into account cases where the driver has limited steering ability, and therefore cannot deal with such situations. Therefore, in order to be able to appropriately control the yaw motion of a vehicle when there are physical limitations, it is conceivable to design the input device for steering itself to suit the physical limitations, as described in, for example, U.S. Patent No. 7,970,514.

[0006] However, if the steering input device itself is designed to accommodate physical limitations, the vehicle cockpit must be modified, making it difficult to use a cockpit that is compatible with a driver without physical limitations.

[0007] In view of the above, the present disclosure aims to provide a vehicle control system and a vehicle control program that enable appropriate control of the yaw motion of a vehicle regardless of the physical conditions of each driver, without adding auxiliary devices or modifying the vehicle. [Means for solving the problem]

[0008] According to one aspect of the present disclosure, a vehicle control system includes: A vehicle control system for controlling yaw motion of a vehicle (V) generated by operation of an input unit (41) of a steering system (4) of the vehicle (V), The system has a yaw motion control unit (1) that acquires information on the vehicle speed, the operable range of an input unit by the driver of the vehicle, and the amount of operation of the input unit, calculates an addition amount, which is an operation amount to be added to the operation amount reflecting the previous operable range, and outputs the calculated addition amount to the steering system.

[0009] This vehicle control system includes a yaw motion control unit that acquires information on the vehicle speed, the operable range and operation amount of the steering system input unit by the driver, calculates an addition amount to be added to the operation amount taking the operable range into account, and outputs the addition amount to the steering system. By acquiring the driver's operable range, this vehicle control system identifies the range of the operable amount of the steering system input unit depending on whether the driver has physical limitations. Then, based on the vehicle speed, the operable range, and the operation amount, the system calculates an addition amount to be added to the operation amount and outputs the addition amount to the steering system, so that the steering system adds an addition amount according to the driver's steering ability to the operation amount. This results in a vehicle control system that can appropriately control the yaw motion of the vehicle regardless of the driver's physical condition, without modifying the vehicle, etc.

[0010] According to another aspect of the present disclosure, a vehicle control program includes: A vehicle control program executed by a yaw motion control device (1) that controls yaw motion of a host vehicle (V) generated by operation of an input unit (41) of a steering system (4) of the host vehicle (V), A process of setting an operable range of the input unit by the driver of the vehicle; a process of calculating a yaw motion target value, which is a target value for realizing the yaw motion of the vehicle, based on information on the vehicle speed of the vehicle acquired by the yaw motion control device, information on the amount of operation of the input unit by the driver, and the set operable range; and a process of calculating an additional amount to be added to the operation amount based on the yaw motion target value, the operable range, and the operation amount, the additional amount being output to the steering system in addition to the operation amount.

[0011] This vehicle control program includes a process for setting an operable range of an input unit of a steering system by a driver of the vehicle, thereby specifying an operable amount of the input unit depending on whether or not the driver has physical limitations. It also includes a process for calculating a yaw motion target value for realizing yaw motion of the vehicle based on information on the vehicle speed, the operation amount of the input unit, and the set operable range, and a process for calculating an additional amount to be added to the operation amount, thereby calculating an additional amount depending on the driver's steering ability. This vehicle control program therefore enables appropriate control of the yaw motion of the vehicle without modifying the vehicle, regardless of the driver's physical condition.

[0012] The reference symbols in parentheses attached to each component indicate an example of the correspondence between the component and the specific components described in the embodiments described below. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a block diagram showing a configuration of a vehicle on which a vehicle control system according to an embodiment is mounted; [Figure 2] FIG. 2 is an explanatory diagram of a processing overview in the vehicle control system according to the embodiment. [Figure 3]FIG. 2 is a block diagram showing an example of the configuration of an additional value calculation unit. [Figure 4] 4 is a flowchart showing an example of processing operations for controlling the yaw motion of a host vehicle by a vehicle control system. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the following embodiments, identical or equivalent parts will be denoted by the same reference numerals.

[0015] (Embodiment) A vehicle control system according to an embodiment will be described.

[0016] Hereinafter, the vehicle control system according to the embodiment will be referred to as "the present vehicle control system," and a vehicle such as an automobile on which the present vehicle control system is installed will be referred to as "subject vehicle V." In this specification, a case in which the present vehicle control system is installed in an automobile will be described as a representative example, but the present invention is not limited to this, and the present invention can also be applied to a moving body in which yaw motion occurs due to operation by the driver.

[0017] 1, the vehicle V on which the present vehicle control system is mounted includes, for example, a yaw motion control unit 1, a vehicle speed sensor 2, a navigation device 3, a steering system 4, and a driver information acquisition unit 5. The present vehicle control system is mainly executed by the yaw motion control unit 1.

[0018] The yaw motion control unit 1 is, for example, an electronic control unit in which various electronic components such as a CPU, ROM, and RAM are mounted on a circuit board (not shown), and is configured as an on-vehicle microcomputer, i.e., an ECU. CPU, ROM, RAM, and ECU are abbreviations for Central Processing Unit, Read Only Memory, Random Access Memory, and Electronic Control Unit, respectively. The yaw motion control unit 1 includes, for example, an operation range setting unit 11, a target value generating unit 12, and an addition amount calculating unit 13. The yaw motion control unit 1 corresponds to a yaw motion control device for the host vehicle V, and is configured to implement the function of yaw motion control according to the embodiment by, for example, reading and executing a computer program stored in a recording medium (not shown) mounted on the host vehicle V.

[0019] The recording medium storing the vehicle control program according to the embodiment includes at least a ROM or a nonvolatile rewritable memory among various non-transitory tangible recording media such as a ROM, a nonvolatile rewritable memory, etc. The nonvolatile rewritable memory is a recording device that allows information to be rewritten while the power is on but retains information in an unrewritable manner while the power is off, such as a flash memory.

[0020] The operation range setting unit 11 sets an operation range of the input unit 41 of the steering system 4 by the driver of the host vehicle V. The operation range varies depending on, for example, the design of the steering system 4 and the presence or absence of physical constraints of the driver, and is set for each driver. The operation range is set, for example, as a range from zero to an upper limit value based on an upper limit value of the amount of operation by the driver in input operation of the input unit 41 or an equivalent device. For example, in the case of a driver with some kind of physical constraint, the upper limit value of the amount of operation by the driver is smaller than the upper limit value of the operation amount designed for the input unit 41, and the operation range is a range that is more limited than the original design operation range. For example, the operation range setting unit 11 may have the driver operate the input unit 41 of the steering system 4 in advance before driving, and set the operation range based on information on the amount of operation obtained from the input unit 41 or the steering angle sensor 42. In addition, the operation range setting unit 11 may, for example, obtain data on the results obtained by having the driver perform preliminary operations to measure the operation range in a location other than the vehicle V from a terminal device such as a smartphone, and set the operation range based on the data.

[0021] The target value generation unit 12 generates a yaw motion target value for controlling the yaw motion of the host vehicle V so that the yaw motion corresponds to the driver's operable range and operation amount. The yaw motion target value is, for example, a yaw rate used to control the yaw angle of the host vehicle V by the steering system 4. For example, as shown in FIG. 2, the target value generation unit 12 acquires information such as the driver's operable range from the operation range setting unit 11, the vehicle speed from the vehicle speed sensor 2, and the operation amount of the input unit 41 from the steering angle sensor 42, and generates the yaw motion target value based on this information. The generation of the yaw motion target value will be described in detail later.

[0022] For example, when the vehicle V is to perform a target yaw motion based on the yaw motion target value generated by the target value generation unit 12, if the actual amount of operation of the input unit 41 by the driver is insufficient, the addition amount calculation unit 13 calculates the shortfall as an addition amount. For example, the addition amount calculation unit 13 outputs a signal corresponding to the calculated addition amount to the steering angle servo control unit 43. The signal output by the addition amount calculation unit 13 is used for yaw motion control of the vehicle V, together with a signal output by the input unit 41 or the steering angle sensor 42 to the steering angle servo control unit 43 according to the amount of operation by the driver. The calculation of the addition amount will be described later.

[0023] The vehicle speed sensor 2 acquires vehicle speed information of the host vehicle V and outputs a detection signal corresponding to the vehicle speed of the host vehicle V. The detection signal from the vehicle speed sensor 2 is input to, for example, the yaw movement control unit 1 and used for yaw movement control. Note that while FIG. 1 shows an example of a configuration in which the vehicle speed information of the host vehicle V is acquired from the vehicle speed sensor 2, this is not limiting, and the vehicle speed information may be acquired from a wheel speed sensor or another ECU to which vehicle speed information is input.

[0024] The navigation device 3 outputs a video signal showing the current position of the vehicle V, a map image, and the like to a video display unit (not shown) of the vehicle V, based on map information stored in a map database, for example. The navigation device 3 acquires information on the vehicle's latitude, longitude, current time, and direction in which the vehicle is facing, for example, using a known GPS. GPS is an abbreviation for Global Positioning System. The navigation device 3 is also used, for example, to output a video signal corresponding to operation navigation for setting the operable range in the operation range setting unit 11.

[0025] The steering system 4 corresponds to a steering device of the host vehicle V. The steering system 4 has, for example, an input unit 41, a steering angle sensor 42, and a steering angle servo control unit 43. The steering system 4 is, for example, a steering-by-wire (SBW) system in which the input unit 41 and the tires of the host vehicle V are not mechanically connected, but are connected by electrical signals, and the angle of the tires is controlled by the electrical signals. SBW, also known as steer-by-wire, is an electromechanical steering system in which the angle of the tires is controlled by electrical signals.

[0026] The input unit 41 is a steering device used to steer the host vehicle V. The input unit 41 is, for example, a steering wheel, and in the case of the SBW system, outputs a signal corresponding to the rotation angle of the steering wheel, i.e., the amount of operation, to the steering angle servo control unit 43, and is used to control the angle change and traveling direction of the tires of the host vehicle V. Note that the input unit 41 is not limited to a steering wheel, and may be any device that is operated to control the traveling direction of the host vehicle V, and may be, for example, another known steering device such as a joystick.

[0027] The steering angle sensor 42 is disposed, for example, near the input unit 41 and detects the steering angle of the input unit 41, i.e., the amount of operation, and outputs a signal corresponding to the detected steering angle. The output signal from the steering angle sensor 42 is input, for example, to the target value generating unit 12 and the steering angle servo control unit 43 and is used to generate a yaw motion target value and control the yaw angle of the host vehicle V. Note that FIG. 1 shows a steering system in which the input unit 41 is a steering wheel as a representative example, but is not limited to this. For example, if the input unit 41 is a joystick, the steering system 4 may be configured to include an operation amount sensor that detects the operation amount of the joystick instead of the steering angle sensor 42. In other words, the steering angle sensor 42 is an example of an operation amount sensor for the input unit 41 and can be changed as appropriate depending on the structure of the input unit 41.

[0028] The steering angle servo control unit 43 outputs an electric signal corresponding to the yaw motion target value to, for example, an electromechanical actuator (not shown) that controls the angle of the tires of the host vehicle V. The steering angle servo control unit 43 is a control device used to cause the host vehicle V to perform yaw motion according to the yaw motion target value generated by the target value generation unit 12. The steering angle servo control unit 43 outputs an electric signal corresponding to the steering amount to an actuator (not shown) based on, for example, information on the operation amount input from the input unit 41 or the steering angle sensor 42 and information on the addition amount input from the addition amount calculation unit 13. The steering amount here means the output amount to the actuator that is operated to achieve the yaw motion target value. For example, in the case of a driver without physical limitations, the steering amount corresponds to the actual operation amount of the input unit 41, and in the case of a driver with physical limitations, the steering amount corresponds to the amount obtained by adding the addition amount to the actual operation amount.

[0029] The driver information acquisition unit 5 is a device of any type that acquires driver information. The driver information acquisition unit 5 may be, for example, an input device that allows the driver to input his / her own information, or an electronic information device that acquires driver information data from any electronic device or the like in which driver information is recorded, and acquires driver information for each driver. The acquired driver information is output to, for example, the yaw motion control unit 1 and linked to the operable range set by the operation range setting unit 11.

[0030] The above is an example of the configuration of the host vehicle V equipped with this vehicle control system.

[0031] [Generation of Yaw Motion Target Value] Next, generation of the yaw motion target value will be described. As described above, the target value generation unit 12 generates a yaw motion target value for controlling the yaw motion of the host vehicle V in accordance with the vehicle speed, operable range, and operation amount of the input unit 41 of the host vehicle V. Specifically, the target value generation unit 12 generates a first target yaw rate Yr based on the following equation (1) corresponding to the case where the vehicle speed of the host vehicle V is low: tgt1 and the second target yaw rate Yr based on the following equation (2) corresponding to the case where the vehicle speed is medium to high. tgt2Then, the target value generating unit 12 calculates the first target yaw rate Yr tgt1 and the second target yaw rate Yr tgt2 The smaller value is determined as the yaw motion target value.

[0032] The terms "low speed" and "medium to high speed" are defined based on whether or not the vehicle speed exceeds a predetermined level of lateral G force in the host vehicle V, for example, 20 km / h, but the threshold value is changed as appropriate depending on the design of the host vehicle V. If the threshold value is 20 km / h, a vehicle speed of 0 to 20 km / h corresponds to low speed, and a vehicle speed exceeding 20 km / h corresponds to medium to high speed.

[0033]

number

[0034] The first target yaw rate Yr calculated using equation (1) tgt1 corresponds to the case where the host vehicle V is not affected by lateral G due to yaw motion. Max is the minimum curvature in vehicle performance, that is, the smallest turning radius that the host vehicle V can realize, and is a fixed value determined by the design of the host vehicle V. MAmax δ is the operable range, i.e., the maximum range in which the driver can operate the input unit 41 used to steer the vehicle V, and differs for each driver. MAmax L in equation (1) is the vehicle wheelbase, that is, the length between the front and rear axles when the vehicle V is viewed from the side, and is a fixed value determined according to the design of the vehicle V. G in equation (1) γf is the base vehicle yaw gain, that is, the magnitude of the angular velocity of the yaw angle per steering angle of the vehicle V. MA is the amount of operation of the input unit 41 of the steering system 4 by the driver of the vehicle V.

[0035]

number

[0036] The second target yaw rate Yr calculated using equation (2) tgt2 corresponds to the case where the host vehicle V is affected by lateral G due to yaw motion, and is a numerical target that does not exceed the lateral G that occurs to the host vehicle V at a normal driving speed, for example. Note that a normal driving speed means a vehicle speed in a normal range that matches the legal speed limit of the road, in other words, a vehicle speed in a normal range. V in equation (2) is the vehicle speed of the host vehicle V. G in equation (2) ymax is the maximum lateral G output in the setting, that is, the lateral G (centrifugal acceleration) generated in the host vehicle V when the steering angle of the host vehicle V is at the maximum output, and is a constant value determined according to the design of the host vehicle V. Here, "steering angle is at the maximum output" means the maximum amount of steering angle generated when the operation amount of the input unit 41 of the host vehicle V is the maximum operation amount in the design. K in equation (2) st is a vehicle stability factor, that is, a coefficient that represents the steering characteristics of the host vehicle V when turning, and is a constant value determined according to the design of the host vehicle V.

[0037] In addition, among the various parameters in the above equations (1) and (2), those that do not fluctuate and remain constant are stored in advance, for example, on a recording medium installed in the vehicle V, and are read and used in necessary situations such as generating a yaw motion target value.

[0038] The target value generating unit 12 generates the first and second target yaw rates Yr regardless of the vehicle speed, for example. tgt1 , Yr tgt2 The target yaw rate is calculated as δ MAmax This is because the target yaw motion value is affected by the yaw rate. In this calculation method, the target yaw motion value can be said to be a yaw rate that is inversely proportional to the maximum value of the operable range. The target yaw motion value generated by the target value generating unit 12 is output to the addition amount calculating unit 13 and used to calculate the addition amount.

[0039] The target value generating unit 12 may consider the response time of the host vehicle V to the yaw rate control, i.e., response performance, and may impart dynamics to satisfy the response performance when generating the yaw motion target value. In this case, the yaw motion control is executed so that the host vehicle V gradually approaches the yaw motion target value within a predetermined time.

[0040] Further, instead of the above calculation method, the target value generating unit 12 calculates δ MAmax Target steering gear ratio N V Specifically, the target steering gear ratio at low speeds may be calculated by N v1 , the target steering gear ratio at medium to high speed is N V2 As, N v1 , N V2 can be expressed by the following equations (3) and (4). The target steering gear ratio is the ratio of the amount of change in the angle of the tires of the host vehicle V to the amount of input to the target steering device, and is a value determined according to the design of the host vehicle V.

[0041]

number

[0042]

number

[0043]

number

[0044] [Calculation of addition amount] Next, an example of the configuration of the addition amount calculation unit 13 and the calculation of the addition amount will be described.

[0045] The addition amount calculation unit 13 includes, for example, a following controller 131 and a motion model calculation unit 132 as shown in FIG.

[0046] The following controller 131 calculates an addition amount for matching the yaw motion target value from the target value generation unit 12 with the yaw rate calculated by the motion model calculation unit 132. For example, the following controller 131 calculates a yaw rate Yr1 obtained from the actual operation amount of the input unit 41 by the driver, based on a mathematical model formula and predetermined parameters (such as the vehicle speed and the operation amount of the input unit 41) acquired from the host vehicle V. Then, the following controller 131 calculates, for example, the difference between the yaw motion target value and the yaw rate Yr1, and calculates an amount of operation that is insufficient to compensate for the difference as an addition amount. In other words, in the case of a driver with physical limitations for some reason, when the actual operation amount is insufficient with respect to the yaw motion target value, the addition amount calculation unit 13 calculates an addition amount that compensates for the shortage, that is, an operation addition amount, and outputs the operation addition amount to the steering system 4.

[0047] The motion model calculation unit 132 corresponds to, for example, the design of the host vehicle V and the steering system 4, and calculates the yaw rate and vehicle body slip angle of the host vehicle V based on predetermined input information such as vehicle speed and steering operation amount. The mathematical model corresponds to, for example, an input to an actuator (not shown) used for steering control of the host vehicle V, and is recorded on a recording medium (not shown) in the steering system 4. The mathematical model corresponds to various methods used for yaw motion control, such as front steering, rear steering, DYC moment, and torque vectoring, and can be changed as appropriate depending on the design of the host vehicle V. DYC is an abbreviation for Direct Yaw-moment Control. The motion model calculation unit 132 outputs, for example, a signal corresponding to the yaw rate calculated by the mathematical model to the following controller 131.

[0048] As described above, the addition amount calculation unit 13 stores a mathematical model of the host vehicle V in the system and calculates an addition amount that causes the target value of the yaw rate corresponding to the operation amount to match the yaw rate value calculated by the mathematical model. As a result, the host vehicle V executes yaw motion control like feedforward control, which makes it possible to achieve more stable yaw motion control than a control method that acquires the actual vehicle yaw rate using a sensor and uses the output value of the sensor. This is because, in the latter control method, when the yaw rate is directly acquired using a sensor, noise may be superimposed on the sensor output value, whereas the method of this vehicle control system uses a mathematical model and reduces the influence of noise.

[0049] The additional amount calculation unit 13 calculates the additional amount regardless of the operable range, for example. For example, when the upper limit of the operation amount designed by the input unit 41 matches the upper limit of the operation amount that the driver can operate, and the yaw motion target value based on the operation amount matches the yaw rate calculated by the mathematical model, the additional amount to be added to the operation amount is calculated as zero.

[0050] [Yaw motion control] Next, an example of processing operations in yaw motion control by this vehicle control system will be described.

[0051] This vehicle control system executes the control flow shown in Fig. 4 when a predetermined start condition is met, for example, when the ignition of the host vehicle V is turned on. This vehicle control system realizes the control flow shown in Fig. 4 by, for example, reading a computer program stored on a recording medium of the host vehicle V and executing it on an on-board microcomputer.

[0052] In step S100, for example, the driver information acquisition unit 5 acquires driver information of the vehicle V. For example, the driver may input his / her own information or select the contents of pre-registered driver information, or the driver information may be acquired from an IC chip or information terminal on which the driver information is recorded, but any other method may also be used.

[0053] In step S110, for example, the yaw movement control unit 1 determines whether or not the operable range of the input unit 41 corresponding to the driver information acquired in step S100 has been registered. For example, if the determination in step S110 is affirmative, the yaw movement control unit 1 proceeds to step S130, and if the determination in step S110 is negative, the yaw movement control unit 1 proceeds to step S120.

[0054] In step S120, for example, the operational range setting unit 11 acquires information on the operable range of the input unit 41 by the driver, particularly information on the upper limit of the amount of operation. For example, the operational range setting unit 11 acquires information on the operable range by any method, such as acquiring data on the operable range acquired in advance at another location or on a prior operation of the input unit 41 of the vehicle V by the driver, as described above. This operable range is associated with the driver information acquired in step S100 and registered in a recording medium (not shown) of the vehicle control system.

[0055] In step S130, for example, the operational range setting unit 11 sets an operational range corresponding to the driver of the host vehicle V. For example, if the determination in step S110 is affirmative, the operational range setting unit 11 sets the operational range based on the operational range data associated with the driver information. For example, if the determination in step S110 is negative, the operational range setting unit 11 sets the operational range based on the operational range data acquired in step S120. Step S130 corresponds to the process of setting the operational range in the vehicle control program according to the embodiment.

[0056] In the following step S140, for example, the yaw motion control unit 1 acquires various vehicle information such as the vehicle speed of the host vehicle V and the operation amount of the input unit 41 from various sensors and in-vehicle devices mounted on the host vehicle V.

[0057] In the next step S150, for example, the target value generation unit 12 calculates the yaw motion target value by the above-mentioned calculation method or the like based on predetermined parameters including the operable range set in step S130, the operation amount of the input unit 41, and the vehicle speed of the host vehicle V. Information on the calculated yaw motion target value is output to, for example, the addition amount calculation unit 13. Step S150 corresponds to the process of calculating the yaw motion target value in the vehicle control program according to the embodiment.

[0058] In step S160, for example, the addition amount calculation unit 13 calculates an addition amount for matching the yaw rate corresponding to the operation amount with the yaw rate based on the mathematical model, based on the yaw motion target value generated in step S150 and the mathematical model corresponding to the design of the host vehicle V. Information on the calculated addition amount is output to, for example, the steering angle servo control unit 43. Step S160 corresponds to the process of calculating an addition value in the vehicle control program according to the embodiment.

[0059] In step S170, for example, the steering angle servo control unit 43 outputs a drive signal to an actuator (not shown) of the steering system 4 based on the information on the operation amount of the input unit 41 acquired in step S140 and the addition amount calculated in step S160. This drive signal is, for example, an electric signal corresponding to a value obtained by adding the addition amount to the operation amount. As a result, a signal of a steering amount corresponding to the driver's steering ability is output to the actuator (not shown) of the steering system 4, the tire angle of the host vehicle V becomes an angle for achieving the yaw movement target value, and the yaw movement of the host vehicle V is appropriately controlled.

[0060] In the final step S180, for example, the yaw movement control unit 1 determines whether or not the ignition of the host vehicle V is in an off state. For example, if the determination in step S180 is affirmative, the yaw movement control unit 1 terminates the processing, and if the determination in step S180 is affirmative, the processing returns to step S130. Note that in step S180, any predetermined termination condition may be satisfied as long as it corresponds to a state in which driving of the host vehicle V has ended, and the determination processing may be based on a termination condition other than the ignition being off.

[0061] The above is an example of yaw motion control of the host vehicle V by the vehicle control system.

[0062] According to this embodiment, the vehicle control system recognizes the operable range of the driver's steering operation at the input unit 41, sets a yaw motion target value based on the operation amount of the input unit 41, and adds an operation amount when the yaw rate calculated based on the operation amount is insufficient for the target value. Even if the driver has some physical constraints and the operable range of the input unit 41 is limited more than the original design value, this vehicle control system adds an additional amount to the actual operation amount to achieve the yaw motion target value and executes steering control. Therefore, even if the driver has physical constraints, it is possible to appropriately control the yaw motion of the host vehicle V.

[0063] In addition, the yaw motion target value is generated based on the operable range and operation amount of the input unit 41, and an operation addition amount is added when there is a discrepancy between the yaw rate calculated by the operation amount and the mathematical model and the generated yaw motion target value, so it can also be used when the driver has no physical constraints.

[0064] Therefore, this vehicle control system can achieve appropriate control of the yaw movement of the vehicle V, regardless of the individual physical abilities of the driver, while using a common cockpit, without making any modifications to the input section 41 of the vehicle V or introducing any auxiliary devices.

[0065] (Other embodiments) Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and modifications within the scope of equivalents. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one, or less than one, are also within the scope and spirit of the present disclosure.

[0066] The yaw movement control unit 1 and the method thereof described in the present disclosure may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the yaw movement control unit 1 and the method thereof described in the present disclosure may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the yaw movement control unit 1 and the method thereof described in the present disclosure may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0067] It goes without saying that in each of the above embodiments, the elements constituting the embodiments are not necessarily essential unless they are specifically stated as essential or are clearly considered essential in principle. Furthermore, in each of the above embodiments, when numerical values ​​such as the number, values, amounts, and ranges of the components of the embodiments are mentioned, they are not limited to the specific numbers unless they are specifically stated as essential or are clearly limited to a specific number in principle. Furthermore, in each of the above embodiments, when the shapes, positional relationships, etc. of the components are mentioned, they are not limited to the shapes, positional relationships, etc., unless they are specifically stated or are clearly limited to a specific shape, positional relationship, etc. in principle. [Explanation of symbols]

[0068] 1 Yaw motion control unit 11 Operation range setting section 12 Target value generation unit 13 Addition amount calculation unit 4. Steering system 41 Input section V Vehicle

Claims

1. A vehicle control system for controlling yaw motion of a vehicle (V) generated by operation of an input unit (41) of a steering system (4) of the vehicle (V), A vehicle control system having a yaw movement control unit (1) that acquires information on the vehicle speed of the vehicle, an operable range of the input unit by the driver of the vehicle, and an operation amount of the input unit, calculates an addition amount that is an operation amount to be added to the operation amount reflecting the operable range, and outputs the calculated addition amount to the steering system.

2. The yaw movement control unit an operation range setting unit (11) that sets the operable range; a target value generating unit (12) that calculates a yaw motion target value, which is a target value for realizing yaw motion of the host vehicle, based on information on the operation amount, the operable range, and the vehicle speed; 2. The vehicle control system according to claim 1, further comprising an additional amount calculation unit (13) that calculates the value of the additional amount based on the operable range and the yaw motion target value.

3. 3. The vehicle control system according to claim 2, wherein the yaw movement target value is a yaw rate that is inversely proportional to the maximum value of the operable range or a target steering gear ratio.

4. A vehicle control program executed by a yaw motion control device (1) that controls yaw motion of a host vehicle (V) generated by operation of an input unit (41) of a steering system (4) of the host vehicle (V), comprising: A process of setting an operable range of the input unit by a driver of the vehicle; a process of calculating a yaw motion target value, which is a target value for realizing the yaw motion of the host vehicle, based on information on the vehicle speed of the host vehicle acquired by the yaw motion control device, information on the operation amount of the input unit by the driver, and the set operable range; and a process of calculating an additional amount to be added to the operation amount based on the yaw motion target value, the operable range, and the operation amount, the additional amount being output to the steering system in addition to the operation amount.

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