CN-116601063-B - Vehicle motion control device and vehicle motion control method

CN116601063BCN 116601063 BCN116601063 BCN 116601063BCN-116601063-B

Abstract

An object of the present invention is to provide a vehicle motion control device that generates a target motion vector that is within a desired controllable range in a motion space, and that realizes a vehicle motion defined by the target motion vector by uniformly controlling the operation amounts of respective actuators, thereby improving riding comfort and operation feeling. The vehicle motion control device controls a plurality of actuators in a unified manner according to a traveling state, and controls a vehicle motion, and is characterized by comprising a vehicle motion creation unit that generates a target motion vector based on inputted traveling state information, an operation amount arbitration unit that calculates an operation amount of each actuator based on the target motion vector, and an actuator control unit that controls each actuator based on the operation amount, wherein the vehicle motion creation unit generates the target motion vector within a controllable range in a motion space acquired from the operation amount arbitration unit.

Inventors

SHAN QISHENG
ITO KIHIRO
KENTA MAEDA
Repair and renovate under large
UENO KENTARO

Assignees

日立安斯泰莫株式会社

Dates

Publication Date: 20260512
Application Date: 20211110
Priority Date: 20201218

Claims (8)

1. A vehicle motion control apparatus that controls a plurality of actuators in a unified manner in accordance with a traveling state to control a motion of a vehicle, the vehicle motion control apparatus comprising: a vehicle motion creation unit that generates a target motion vector based on the inputted travel state information; an operation amount arbitration section that calculates an operation amount of each actuator based on the target motion vector, and An actuator control unit that controls each actuator based on the operation amount, The vehicle motion formulating section generates the target motion vector within a controllable range in the motion space acquired from the operation amount arbitrating section, The target motion vector is a vector defining six degrees of freedom of vehicle motion, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, acceleration in the up-down direction, roll angle, pitch angle, yaw rate, and is a vector having a face in which acceleration in the front-rear direction, acceleration in the lateral direction, acceleration in the up-down direction, and acceleration in the up-down direction are defined by starting points arranged on a motion space formed by three axes, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, acceleration in the up-down direction, and pitch angle, and yaw rate are defined by inclinations on the motion space.
2. A vehicle motion control apparatus that controls a plurality of actuators in a unified manner in accordance with a traveling state to control a motion of a vehicle, the vehicle motion control apparatus comprising: a vehicle motion creation unit that generates a target motion vector based on the inputted travel state information; an operation amount arbitration section that calculates an operation amount of each actuator based on the target motion vector, and An actuator control unit that controls each actuator based on the operation amount, The vehicle motion formulating section generates the target motion vector within a controllable range in the motion space acquired from the operation amount arbitrating section, The target motion vector is a vector defining six degrees of freedom of vehicle motion, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, position in the up-down direction, roll angle, pitch angle, yaw rate, and is a vector having a face in which the acceleration in the front-rear direction, acceleration in the lateral direction, position in the up-down direction, and pitch angle are defined by starting points arranged on a motion space formed by three axes, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, and position in the up-down direction, and the roll angle and pitch angle are defined by the inclination of the motion space, and the yaw rate is defined by the attitude of the motion space.
3. The vehicle motion control apparatus according to claim 1 or 2, characterized in that, The running state is a running state defined by driver operation information, external information, or sensor information of the vehicle body.
4. The vehicle motion control apparatus according to claim 1 or 2, characterized in that, The actuator control unit transmits the operation information of each actuator to the operation amount arbitration unit, The operation amount arbitration section updates the controllable range in the movement space based on the operation information of each actuator.
5. The vehicle motion control apparatus according to claim 4, wherein, The vehicle motion formulation section generates the target motion vector in the controllable range updated by the operation amount arbitration section, in a case where the controllable range in the motion space is updated by the operation amount arbitration section.
6. A vehicle motion control method that controls motion of a vehicle by collectively controlling a plurality of actuators according to a running state, the vehicle motion control method characterized by comprising: a first step of generating a target motion vector within a controllable range of the motion space based on the inputted traveling state information; a second step of calculating the operation amount of each actuator based on the target motion vector, and A third step of controlling each actuator based on the operation amount, The target motion vector is a vector defining six degrees of freedom of vehicle motion, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, acceleration in the up-down direction, roll angle, pitch angle, yaw rate, and is a vector having a face in which acceleration in the front-rear direction, acceleration in the lateral direction, acceleration in the up-down direction, and acceleration in the up-down direction are defined by starting points arranged on a motion space formed by three axes, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, acceleration in the up-down direction, and pitch angle, and yaw rate are defined by inclinations on the motion space.
7. A vehicle motion control method that controls motion of a vehicle by collectively controlling a plurality of actuators according to a running state, the vehicle motion control method characterized by comprising: a first step of generating a target motion vector within a controllable range of the motion space based on the inputted traveling state information; a second step of calculating the operation amount of each actuator based on the target motion vector, and A third step of controlling each actuator based on the operation amount, The target motion vector is a vector defining six degrees of freedom of vehicle motion, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, position in the up-down direction, roll angle, pitch angle, yaw rate, and is a vector having a face in which the acceleration in the front-rear direction, acceleration in the lateral direction, position in the up-down direction, and pitch angle are defined by starting points arranged on a motion space formed by three axes, i.e., acceleration in the front-rear direction, acceleration in the lateral direction, and position in the up-down direction, and the roll angle and pitch angle are defined by the inclination of the motion space, and the yaw rate is defined by the attitude of the motion space.
8. The vehicle motion control method according to claim 6 or 7, characterized in that, A fourth step of updating the controllable range in the motion space based on the motion information of each actuator is further included.

Description

Vehicle motion control device and vehicle motion control method Technical Field The present invention relates to a vehicle motion control device and a vehicle motion control method for optimizing a vehicle motion according to a traveling state by uniformly controlling respective actuators mounted on an automobile. Background In recent years, automobiles are required to further improve riding comfort of passengers and operational feeling of drivers, and a technique of controlling movement of the vehicle by arbitrating a plurality of control requests has been proposed. For example, in the abstract of patent document 1, "in the control platform 10, the position control request arbitration unit 21 arbitrates and outputs a plurality of control requests having a position as a dimension, and the position control request conversion unit 22 converts the control request from the position control request arbitration unit 21 into a control request having a speed as a dimension and outputs the control request. Then, the speed control request arbitration section 31 arbitrates and outputs a plurality of control requests in the speed dimension, and the speed control request conversion section 32 converts the control request from the speed control request arbitration section 31 into a control request in the acceleration dimension and outputs the control request. Next, the acceleration control request arbitration section 41 arbitrates and outputs a plurality of control requests having acceleration as a dimension, and the acceleration control request conversion section 42 converts the control request from the acceleration control request arbitration section 41 into a control request having a dimension (for example, torque) corresponding to a control device that realizes acceleration control and outputs the control request. Fig. 1 of the document illustrates a connection relationship among the position control request arbitration unit 21, the speed control request arbitration unit 31, the acceleration control request arbitration unit 41, and the like in the control platform 10. That is, patent document 1 discloses a control request arbitration device that arbitrates a plurality of position control requests to generate a speed control request, arbitrates a plurality of speed control requests to generate an acceleration control request, and arbitrates a plurality of acceleration control requests to generate a torque control request. Prior art literature Patent literature Patent document 1 Japanese patent laid-open publication No. 2011-63098 Disclosure of Invention The invention aims to solve the technical problems In addition to the respective controls of driving and braking, steering control for turning is performed while the vehicle is running. When the vehicle starts to turn, the vehicle passively generates vehicle motions such as lateral acceleration, roll, pitch, yaw rate, etc. due to a mechanical characteristic of the vehicle after the turning, and ride comfort and operation feeling are deteriorated, so that there is a need for a vehicle motion control device that actively controls the vehicle motions according to a running state, thereby improving ride comfort and operation feeling at the time of turning. The control platform of patent document 1 is a control target for driving and braking a vehicle in straight running, and does not consider steering control, and therefore does not consider arbitrating steering control requests with position, speed, and acceleration control requests. Further, since patent document 1 restricts the arbitration order of each control request to the above order, it is not possible to arbitrarily set the order, and therefore, if a steering control request is included in an arbitration target, it is necessary to insert a difficult design such that the arbitration order of only intermittently generated steering control requests is inserted at an appropriate position within a sequence of continuously generated position control requests, speed control requests, and acceleration control requests. In view of the foregoing, it is an object of the present invention to provide a vehicle motion control apparatus and a vehicle motion control method that generate a target motion vector that converges in a desired controllable range in a motion space, and that realize a vehicle motion defined by the target motion vector by uniformly controlling the operation amounts of the respective actuators, thereby improving riding comfort and operation feeling. Technical proposal for solving the technical problems In order to solve the above problems, a vehicle motion control device of the present invention controls a plurality of actuators in a unified manner according to a traveling state, thereby controlling a vehicle motion, the vehicle motion control device including a vehicle motion making section that generates a target motion vector based on inputted traveling state information, an operation amount arbitration