CONTROL DEVICE, CONTROL SYSTEM, METHOD, PROGRAM, AND VEHICLE

Abstract

To provide a vehicle motion control device capable of accurately calculating an actuator command value relating to lateral motion of a vehicle regardless of a travel state of the vehicle.SOLUTION: A control device which is mounted on a vehicle and controls motion of the vehicle includes: an arbitration part for receiving a plurality of target lateral accelerations from a plurality of drive assist systems, and arbitrating the plurality of target lateral accelerations; a calculation part for calculating a steering angle on the basis of the arbitration result by the arbitration part and information fed back from actuator systems; and a distribution part for distributing the steering angle to at least one of the plurality of actuator systems.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a device for controlling the movement of a vehicle. [Background technology]

[0002] There is known a vehicle that can adjust multiple requests related to the vehicle motion that occur in the vehicle and manage the operation of the actuator according to the adjustment result. For example, Patent Document 1 discloses a device that adjusts multiple requests according to the availability of actuators to optimally control the vehicle motion. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-096619 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the control device described in Patent Document 1, an actuator command value for controlling the lateral movement of the vehicle is calculated based on a required yaw rate value. Therefore, when the vehicle is traveling at a very low speed, such as during automatic parking, the required yaw rate value is small even if the steering angle is large, so the required value cannot be appropriately converted into an actuator command value. In other words, in controlling the lateral movement using the yaw rate, the actuator command value may not be calculated accurately depending on the vehicle's traveling state.

[0005] The present invention has been made in consideration of the above problems, and has an object to provide a vehicle motion control device and the like that can accurately calculate an actuator command value related to the lateral motion of a vehicle regardless of the running state of the vehicle. [Means for solving the problem]

[0006] In order to solve the above problems, one aspect of the present invention is a control device that is mounted on a vehicle and controls the vehicle's movement, and includes an arbitration unit that receives multiple target lateral accelerations from multiple driving assistance systems and arbitrates the multiple target lateral accelerations, a calculation unit that calculates a steering angle based on the arbitration result by the arbitration unit and information fed back from an actuator system, and a distribution unit that distributes the steering angle to at least one of the multiple actuator systems. Effect of the Invention

[0007] According to the vehicle motion control device of the present disclosure, it is possible to accurately calculate actuator command values ​​(requests) related to the lateral motion of the vehicle, regardless of the running state of the vehicle. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a functional block diagram of a vehicle motion control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [overview] The vehicle motion control device according to the present invention receives requests from each system regarding the lateral motion of the vehicle in the form of lateral acceleration and curvature. This allows the direction of rotation to be processed in terms of curvature, which is a kinematic unit, so that actuator command values ​​regarding the lateral motion of the vehicle can be calculated with high accuracy regardless of the running state of the vehicle.

[0010] [composition] Fig. 1 is a functional block diagram of a vehicle motion control device 20 according to an embodiment of the present invention and its peripheral configuration. The vehicle motion control device 20 illustrated in Fig. 1 includes a request receiving unit 21, a feedback control unit 22, and a conversion transmission unit 23.

[0011] The vehicle motion control device 20 determines the control contents related to the vehicle motion such as "running", "turning" and "stopping" based on the request from the driving assistance ECU 10 and the information acquired from the sensor unit 50. Then, based on the determined control contents, the vehicle motion control device 20 issues necessary commands to the steering control ECU 31, the brake control ECU 32, the powertrain control ECU 33 and the like that it manages, and appropriately controls actuators related to the vehicle motion such as the steering 41, the brakes 42, and the powertrain (or in-wheel motor) 43.

[0012] The driving assistance ECU 10 is a unit that performs various controls to support the driving of the driver, and examples thereof include an automatic driving system 11, an automatic parking system 12, and a preventive safety system 13. These systems are configured to request the vehicle motion control device 20 to control the vehicle motion, which is the control target of each system, at least in terms of longitudinal acceleration Ax and lateral acceleration Ay, which are kinematic units, for longitudinal (front-rear direction of the vehicle) and lateral (width direction of the vehicle) movements, and in terms of curvature R, which is a kinematic unit, for rotational movements. Note that instead of the curvature R, a turning radius r (=1 / R) may be used.

[0013] The sensor unit 50 includes various sensors that acquire information related to the vehicle motion, and examples thereof include a wheel speed sensor that can measure the vehicle speed, and a chassis sensor that can measure the yaw rate and acceleration in the longitudinal and lateral directions.

[0014] The request receiving unit 21 receives one or more requests from the driving assistance ECU 10, and arbitrates or selects the received requests to output an optimal request (Ax, Ay, R) based on one longitudinal acceleration Ax, lateral acceleration Ay, and curvature R. With regard to control of lateral motion, the request receiving unit 21 only needs to receive a request including at least one of the lateral acceleration Ay and the curvature R.

[0015] The feedback control unit 22 determines the longitudinal acceleration Ax based on the optimal request (Ax, Ay, R) output by the request receiving unit 21, actuator information (control realization result, availability, etc.) fed back from the steering control ECU 31, the brake control ECU 32, the powertrain control ECU 33, etc., and information on the vehicle motion input from the sensor unit 50. * , lateral acceleration Ay * , curvature R * For example, the lateral acceleration Ay * The curvature R can be calculated based on the measurements fed back from the lateral G sensor installed on the vehicle. * can be calculated based on the curvature estimated by measurements fed back from the lateral G sensor and the wheel speed sensor.

[0016] The conversion transmission unit 23 converts the request (Ax * , Ay * , R * ) into units of operation amounts (braking force Fx, steering angle δ, etc.) according to the operating characteristics of each actuator as command values ​​to be distributed to one or more actuators related to the movement of the vehicle, such as the steering 41, the brakes 42, and the power train 43. Then, the conversion transmission unit 23 transmits the converted command values ​​to each control ECU that operates the corresponding actuator.

[0017] The steering control ECU 31 controls the steering 41 in accordance with a predetermined steering driver model based on the command value received from the conversion transmission unit 23 and a command value corresponding to the driver's steering operation. The brake control ECU 32 controls the brake 42 in accordance with a predetermined brake driver model based on the command value received from the conversion transmission unit 23 and a command value corresponding to the driver's brake operation. The powertrain control ECU 33 controls the powertrain 43 in accordance with a predetermined accelerator driver model based on the command value received from the conversion transmission unit 23 and a command value corresponding to the driver's accelerator operation.

[0018] The vehicle motion control device 20 according to this embodiment can be configured, for example, in this brake control ECU 32. Furthermore, the systems included in the driving assistance ECU 10 and the control ECUs and actuators managed by the vehicle motion control device 20 are not limited to those shown in the figure. Note that the ECUs are connected to each other so as to be able to communicate with each other via an in-vehicle network such as a CAN.

[0019] [Example] Below, using the vehicle's lateral motion control as an example, we will explain in detail some of the requests that are output from each system of the driving assistance ECU 10 to the vehicle motion control device 20, and how the vehicle motion control device 20 controls each actuator to realize the requests.

[0020] <Request example 1> When the vehicle is to be moved laterally at an acceleration Y in order to keep the vehicle in the center of the lane on a straight road by using the lane keeping control function, the preventive safety system 13 performs a lateral acceleration Ay 3 = Y and curvature R 3 = 0 (or no curvature request) is requested to the vehicle motion control device 20.

[0021] <Request example 2> The preventive safety system 13 has a lane keeping control function that, when it is desired to move the vehicle laterally at an acceleration Y in order to keep the vehicle in the center of the driving lane on a road that is curved with a curvature X, performs a lateral acceleration Ay 3 = Y and curvature R 3 =X is requested to the vehicle motion control device 20.

[0022] <Request example 3> When the automatic parking system 12 is to move the vehicle along a trajectory of curvature X at a very low speed by the automatic parking control function, the automatic parking system 12 controls the lateral acceleration Ay 2 = 0 (or no lateral acceleration requirement) and curvature R 2 =X is requested to the vehicle motion control device 20.

[0023] <Example 1> When the motion request from the driving assistance ECU 10 is realized only by steering the steering wheel 41, the vehicle motion control device 20 calculates a curvature Ry (=Ay / Vx) according to the requested lateral acceleration Ay based on the lateral acceleration Ay and the current vehicle speed Vx acquired from the sensor unit 50. 2 Then, the vehicle motion control device 20 calculates the curvature R based on the calculated curvature Ry and the requested curvature R. * Calculate (=R+Ry) and calculate the curvature R * The steering angle δ of the steering wheel 41 is calculated from the above.

[0024] <Example 2> When the motion request from the driving assistance ECU 10 is realized by steering the steering wheel 41 having a four-wheel steering function (4WS), the vehicle motion control device 20 calculates the steering angle δ of the steering wheel 41 by the method of the above-mentioned implementation example 1. However, when the motion request from the driving assistance ECU 10 is only the lateral acceleration Ay without the curvature R, the vehicle motion control device 20 performs steering control of the front and rear wheels of the vehicle in the same phase, and converts the requested lateral acceleration Ay into a steering angular velocity. This allows the lateral acceleration Ay to be realized by steering the steering wheel 41.

[0025] <Example 3> In a vehicle equipped with an in-wheel motor 43, the moment generated by the left-right torque difference control of the in-wheel motor 43 corresponds to a feedback differential term that controls the curvature R. For this reason, when a motion request from the driving assistance ECU 10 is realized by driving the in-wheel motor 43, the vehicle motion control device 20 separates the in-wheel motor 43 as a means for realizing the differential term and makes the request (dR=dVx / dω).

[0026] [Actions and Effects] As described above, the vehicle motion control device 20 according to one embodiment of the present invention can receive and process the rotation direction from the driving assistance ECU 10 in the kinematic unit of curvature R, which is one of the requests related to the motion of the vehicle. This makes it possible to appropriately convert the request value into an actuator command value, since the request value related to the lateral motion does not become small even if the steering wheel 41 is turned significantly during, for example, extremely slow driving. Therefore, compared with the control of the lateral motion using the yaw rate, the actuator command value related to the lateral motion of the vehicle can be calculated with high accuracy regardless of the driving state of the vehicle.

[0027] Furthermore, since the vehicle motion control device 20 according to this embodiment can handle requests for lateral motion in the same units regardless of the function of the system that is the request source, it is possible to integrate the feedback control units 22 into one, and also to integrate the conversion transmission units 23 into one. Furthermore, since the curvature R can be converted into a kinematic unit, it is also possible to deal with cases where coordination between a predetermined control (for example, stabilization control) and lateral motion control is required.

[0028] The present invention can be understood not only as a vehicle motion control device, but also as a method or program executed by a computer of the vehicle motion control device, or as a vehicle equipped with the vehicle motion control device. [Industrial Applicability]

[0029] The present invention is useful in systems for controlling the motion of vehicles. [Explanation of symbols]

[0030] 10 Driving assistance ECU 11 Autonomous Driving Systems 12 Automatic Parking System 13. Active Safety Systems 20 Vehicle motion control device 21 Request Reception Department 22 Feedback control section 23 Conversion and transmission unit 31 Steering control ECU 32 Brake control ECU 33 Powertrain Control ECU 41 Steering 42 Brake 43 Powertrain (in-wheel motor) 50 Sensor section

Claims

1. A control device that is mounted on a vehicle and controls a plurality of actuator systems related to a motion of the vehicle, an arbitration unit that receives a plurality of target turning radii from a plurality of driving assistance systems mounted on the vehicle and arbitrates the plurality of target turning radii; a calculation unit that calculates a steering angle based on a result of the arbitration unit and information fed back from the plurality of actuator systems; a distributor that distributes the steering angle to at least one of the plurality of actuator systems, A control device, wherein the information fed back from each of the plurality of actuator systems is at least one of a control result achieved by each of the actuator systems and an availability of each of the actuator systems.

2. 2. The control device according to claim 1, wherein the calculation unit calculates the steering angle based on information regarding the movement of the vehicle input from a sensor provided in the vehicle, in addition to the arbitration result by the arbitration unit and information fed back from the plurality of actuator systems.

3. A control system mounted on the vehicle, the control system including a plurality of actuator systems involved in the motion of the vehicle, and a control device for controlling the plurality of actuator systems, The control device includes: an arbitration unit that receives a plurality of target turning radii from a plurality of driving assistance systems mounted on the vehicle and arbitrates the plurality of target turning radii; a calculation unit that calculates a steering angle based on a result of the arbitration by the arbitration unit and availability information fed back from the plurality of actuator systems; a distributor that distributes the steering angle to at least one of the plurality of actuator systems, the information fed back from each of the plurality of actuator systems is at least one of a control realization result by each of the actuator systems and an availability of each of the actuator systems; At least one of the plurality of actuator systems is a steering system; The steering system is a control system that controls steering in accordance with a predetermined steering driver model based on the steering angle and a command value corresponding to a steering operation by a driver.

4. A method implemented by a computer of a control device mounted on a vehicle and controlling a plurality of actuator systems involved in the motion of the vehicle, comprising: receiving a plurality of target turning radii from a plurality of driving assistance systems mounted on the vehicle and arbitrating the plurality of target turning radii; calculating a steering angle based on a result of the arbitration step and information fed back from the plurality of actuator systems; and distributing the steering angle to at least one of the plurality of actuator systems; A method according to claim 1, wherein the information fed back from each of the actuator systems is at least one of a control realization result by each of the actuator systems and an availability of each of the actuator systems.

5. A program to be executed by a computer of a control device that is mounted on a vehicle and controls a plurality of actuator systems related to the motion of the vehicle, receiving a plurality of target turning radii from a plurality of driving assistance systems mounted on the vehicle and arbitrating the plurality of target turning radii; calculating a steering angle based on a result of the arbitration step and information fed back from the plurality of actuator systems; and distributing the steering angle to at least one of the plurality of actuator systems; The program, wherein the information fed back from each of the plurality of actuator systems is at least one of a result of control achieved by each of the actuator systems and an availability of each of the actuator systems.

6. A plurality of driving assistance systems; A plurality of actuator systems involved in the motion of a vehicle; A vehicle equipped with the control device according to claim 1.

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