Control Device for Vehicle
First Claim
1. A control device for a vehicle equipped with a drive manipulated variable output means for outputting a drive manipulated variable that indicates a drive manipulation state of a vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to be able to perform manipulation of a predetermined motion of the vehicle, and an actuator device control means for controlling an operation of the actuator device, the control device for a vehicle comprising:
- an actual state amount grasping means for detecting or estimating an actual state amount, which is a predetermined state amount related to an actual motion of the vehicle;
a vehicle model motion determining means for determining a vehicle model motion, which is a vehicle motion on a first vehicle model expressing dynamic characteristics of the vehicle, on the basis of at least the drive manipulated variable; and
a state amount error reaction control means for determining an actual vehicle actuator manipulation control input for manipulating the actuator device of an actual vehicle and a vehicle model manipulation control input for manipulating the vehicle model motion according to a predetermined feedback control law on the basis of a first state amount error, which is the difference between an actual state amount that has been detected or estimated and a model state amount, which is the predetermined state amount related to the vehicle model motion,wherein the actuator device control means comprises a means for controlling the actuator device on the basis of at least the actual vehicle actuator manipulation control input, andthe vehicle model motion determining means comprises a means for determining the vehicle model motion on the basis of at least the drive manipulated variable and the vehicle model manipulation control input.
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Accused Products
Abstract
A control device for a vehicle is equipped with a vehicle model motion determining device for determining a motion of a vehicle (a vehicle model motion) on a vehicle model expressing the dynamic characteristics of a vehicle on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control device for determining control inputs to an actuator control device of the actual vehicle and the vehicle model motion determining device according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle 1 (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.
67 Citations
18 Claims
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1. A control device for a vehicle equipped with a drive manipulated variable output means for outputting a drive manipulated variable that indicates a drive manipulation state of a vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to be able to perform manipulation of a predetermined motion of the vehicle, and an actuator device control means for controlling an operation of the actuator device, the control device for a vehicle comprising:
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an actual state amount grasping means for detecting or estimating an actual state amount, which is a predetermined state amount related to an actual motion of the vehicle; a vehicle model motion determining means for determining a vehicle model motion, which is a vehicle motion on a first vehicle model expressing dynamic characteristics of the vehicle, on the basis of at least the drive manipulated variable; and a state amount error reaction control means for determining an actual vehicle actuator manipulation control input for manipulating the actuator device of an actual vehicle and a vehicle model manipulation control input for manipulating the vehicle model motion according to a predetermined feedback control law on the basis of a first state amount error, which is the difference between an actual state amount that has been detected or estimated and a model state amount, which is the predetermined state amount related to the vehicle model motion, wherein the actuator device control means comprises a means for controlling the actuator device on the basis of at least the actual vehicle actuator manipulation control input, and the vehicle model motion determining means comprises a means for determining the vehicle model motion on the basis of at least the drive manipulated variable and the vehicle model manipulation control input. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification