VEHICLE MOTION CONTROL DEVICE AND VEHICLE MOTION CONTROL METHOD

• Main Authors: UENO KENTARO, SETO SHINJI, NASU SHINGO
• Format: Patent
• Language: English; Japanese
• Published: 01.08.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

To provide a vehicle motion control device which achieves riding comfort and minimization of transit time by setting a speed such that physical quantities such as acceleration and jerk fall within specified values after considering cooperation between the longitudinal motion and the lateral motion generated in a vehicle during travel.SOLUTION: A vehicle motion control device comprises: route command value calculation means which generates a route on which a vehicle travels; specified value setting means which sets a specified value of a physical quantity of a vehicle behavior when traveling on the route; route feature point setting means which sets a route feature point on the basis of the route and the specified value; and speed command value calculation means which calculates a speed for the vehicle to travel on the route on the basis of the route, the specified value and the route feature point. The speed command value calculation means sets a zero point of the longitudinal acceleration on the basis of the route feature point being the peak point of the curvature of the route, and sets the peak point of the longitudinal acceleration on the basis of the route feature point being the peak point of a distance differential value of the curvature.SELECTED DRAWING: Figure 1 【課題】 本発明は、走行中の車両に生じる前後運動と横運動の連係を考慮した上で、加速度や加加速度などの物理量が規定値内になるように速度を設定することで、乗り心地と移動時間の最短化を両立する車両運動制御装置を提供する。【解決手段】 車両が走行する経路を生成する経路指令値算出手段と、前記経路を走行する際の車両挙動の物理量の規定値を設定する規定値設定手段と、前記経路と前記規定値に基づいて経路特徴点を設定する経路特徴点設定手段と、前記経路と前記規定値と前記経路特徴点に基づいて前記車両が前記経路を走行するための速度を算出する速度指令値算出手段を備え、前記速度指令値算出手段は、前記経路の曲率のピーク点である経路特徴点に基づいて前後加速度のゼロ点を設定し、前記曲率の距離微分値のピーク点である経路特徴点に基づいて前後加速度のピーク点を設定することを特徴とする車両運動制御装置。【選択図】 図１