Vehicle control system, vehicle control method

Abstract

Vibrations in the frequency range near the fixed point can be suppressed. [Solution] The vehicle control system is a vehicle control system for controlling a vehicle, comprising a control force calculation unit for calculating a control input and a frequency response characteristic adjustment unit for adjusting the frequency response characteristics at the control input. The frequency response characteristic adjustment unit adjusts the frequency response characteristics in a fixed point frequency band determined based on a fixed point where the ratio between the vibration of the disturbance and the vibration of the vehicle body caused by the vibration remains constant regardless of the control input.

Claims

1. A vehicle control system for controlling a vehicle, A control force calculation unit that calculates the control input, The system includes a frequency response characteristic adjustment unit that adjusts the frequency response characteristics of the control input, A vehicle control system in which the frequency response characteristic adjustment unit adjusts the frequency response characteristics in a fixed point frequency band determined based on a fixed point where the ratio between the vibration of an external disturbance and the vibration of the vehicle body caused by the vibration remains constant regardless of the control input.

2. In the vehicle control system according to claim 1, The frequency response characteristic adjustment unit adjusts the frequency response characteristics such that the Nyquist trajectory indicating the control input and the vibration deterioration circle, which is a circle representing the vibration deterioration region, are tangent at the fixed point, in a vehicle control system.

3. In the vehicle control system according to claim 1, A vehicle control system in which the adjustment of the frequency response characteristics in the frequency response characteristic adjustment unit is gain adjustment, and a filter is applied to reduce the gain in the fixed point frequency band.

4. In the vehicle control system according to claim 1, The adjustment of the frequency response characteristics in the frequency response characteristic adjustment unit is phase adjustment, which advances or delays the phase of the fixed point frequency band in a vehicle control system.

5. In the vehicle control system according to claim 1, The adjustment of the frequency response characteristics in the frequency response characteristic adjustment unit is phase compensation and gain adjustment. The vehicle control system, in which the gain adjustment reduces the gain in the high-frequency band amplified by the phase compensation, is described above.

6. In the vehicle control system according to claim 4, The frequency response characteristic adjustment unit, in the phase adjustment, If the Nyquist trajectory indicating the control input passes through the vibration degradation circle, which is a circle indicating the vibration degradation region, and then passes through the fixed point, the phase is advanced. A vehicle control system that delays the phase if the Nyquist trajectory passes through the vibration aggravation circle after passing through the fixed point.

7. In the vehicle control system according to claim 1, The fixed point frequency band is a frequency corresponding to a specific overlapping region which is part of the Nyquist trajectory indicating the control input, and the specific overlapping region overlaps with the vibration deterioration region circle, with one of its endpoints being the fixed point, in a vehicle control system.

8. A vehicle control method performed by a vehicle control device, which is a computer that controls a vehicle, A control input calculation process that calculates the control input, This includes a frequency response characteristic adjustment process that adjusts the frequency response characteristics of the control input, A vehicle control method comprising adjusting the frequency response characteristics in the frequency response characteristic adjustment process, in which the frequency response characteristics are adjusted in a fixed point frequency band determined based on a fixed point where the ratio between the vibration of an external disturbance and the vibration of the vehicle body caused by the said vibration remains constant regardless of the control input.

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