VEHICLE CONTROL DEVICE

• US 20090187302A1
• Filed: 12/21/2006
• Published: 07/23/2009
• Est. Priority Date: 12/27/2005
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kono, Hiroshi, Takenaka, Toru, Urabe, Hiroyuki, Toyoshima, Takayuki
• Granted Patent: US 7,987,029 B2
• Time in Patent Office: Days
• US Class Current: 701/29
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: Y10S 903/93 Conjoint control of different elements

Abstract

A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16, respectively, are operated on the basis of the control inputs. The FB distribution law 20 estimates an external force acting on the actual vehicle 1 due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero. Thus, a vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.

Claims

1. A vehicle control device having a drive manipulated variable detecting means which detects a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of a predetermined motion of the vehicle, and an actuator device control means which sequentially controls an operation of the actuator device, the vehicle control device comprising:

an actual state amount grasping means for detecting or estimating a first actual state amount, which is a value of a predetermined first state amount related to a predetermined motion of an actual vehicle;

a model state amount determining means for determining a first model state amount, which is a value of the first state amount related to a predetermined motion of a vehicle on a vehicle model established beforehand as a model expressing dynamic characteristics of the vehicle, on the basis of at least the detected drive manipulated variable;

a state amount error calculating means for calculating a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first model state amount; and

an actual vehicle state amount error response control means and a model state amount error response control means, which respectively determine an actual vehicle actuator operation control input for operating the actuator device of an actual vehicle and a vehicle model operation control input for manipulating a predetermined motion of the vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero,

wherein the actuator device control means includes a means which controls the operation of the actuator device on the basis of at least the determined actual vehicle actuator operation control input,

the model state amount determining means includes a means which determines the first model state amount on the basis of at least the detected drive manipulated variable and the determined vehicle model operation control input, and

the model state amount error response control means includes a means which finally determines the vehicle model operation control input such that a relationship between a difference between an external force acting on the vehicle on the vehicle model in the case where the vehicle model is manipulated on the basis of a vehicle model operation control input finally determined and an external force acting on the actual vehicle due to the actual vehicle actuator operation control input in the case where the actuator device is manipulated on the basis of the determined actual vehicle actuator operation control input and the first state amount error will be a relationship exhibiting higher linearity as compared with a relationship between a difference between an external force acting on the vehicle on the vehicle model in the case where a basic value of the vehicle model operation control input is determined such that the state amount error is approximated to zero on the basis of at least the calculated first state amount error and then the vehicle model is manipulated on the basis of the determined basic value and an external force acting on the actual vehicle due to the actual vehicle actuator operation control input in the case where the actuator device is manipulated on the basis of the determined actual vehicle actuator operation control input and the first state amount error.

2. A vehicle control device having a drive manipulated variable detecting means which detects a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of a vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of a predetermined motion of the vehicle, and an actuator device control means which sequentially controls an operation of the actuator device, the vehicle control device comprising:

an actual state amount grasping means for detecting or estimating a first actual state amount, which is a value of a predetermined first state amount related to a predetermined motion of an actual vehicle;

a model state amount determining means for determining a first model state amount, which is a value of the first state amount related to a predetermined motion of a vehicle on a vehicle model established beforehand as a model expressing dynamic characteristics of the vehicle, on the basis of at least the output drive manipulated variable;

a state amount error calculating means for calculating a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first model state amount; and

an actual vehicle state amount error response control means and a model state amount error response control means, which respectively determine an actual vehicle actuator operation control input for manipulating the actuator device of the actual vehicle and a vehicle model operation control input for manipulating a predetermined motion of the vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero,

wherein the actuator device control means includes a means which controls the operation of the actuator device on the basis of at least the determined actual vehicle actuator operation control input,

the model state amount determining means includes a means which determines the first model state amount on the basis of at least the detected drive manipulated variable and the determined vehicle model operation control input, and

the model state amount error response control means includes a means which determines an estimated value of an external force acting on the actual vehicle due to the actual vehicle actuator operation control input in the case where the actuator device control means controls an operation of the actuator device on the basis of the determined actual vehicle actuator operation control input on the basis of the actual vehicle actuator operation control input and then determines the vehicle model operation control input on the basis of at least the determined estimated value and the calculated first state amount error.

3. The vehicle control device according to claim 2, wherein the model state amount error response control means comprises at least a means which determines a basic value of the vehicle model operation control input on the basis of the calculated first state amount error such that the first state amount error is brought close to zero, a means which determines the estimated value on the basis of the determined actual vehicle actuator operation control input, and a means which determines the vehicle model operation control input on the basis of the determined basic value and the determined estimated value.

4. The vehicle control device according to claim 2, wherein the actual vehicle state amount error response control means includes at least a means which determines an external force required amount that defines an external force to be applied to the actual vehicle to approximate the first state amount error to zero on the basis of the calculated first state amount error, and then determines the actual vehicle actuator operation control input on the basis of the determined external force required amount, and

the model state amount error response control means comprises at least a means which determines a basic value of the vehicle model operation control input on the basis of the calculated first state amount error such that the first state amount error is approximated to zero, a means which determines the estimated value on the basis of the determined actual vehicle actuator operation control input, and a means which determines the vehicle model operation control input by correcting the determined basic value on the basis of a difference between the determined estimated value and an external force defined by the determined external force required amount.

5. The vehicle control device according to claim 4, wherein the actual vehicle state amount error response control means includes a means which determines, in the case where the determined external force required amount exists in a predetermined dead zone, the actual vehicle actuator operation control input by using a predetermined value in the dead zone in place of the external force required amount.

6. The vehicle control device according to claim 2, wherein the estimated value is an estimated value of a difference between an external force acting on the actual vehicle in the case where the actuator device control means controls the operation of the actuator device on the basis of the determined actual vehicle actuator operation control input and an external force acting on the actual vehicle in the case where the actuator device control means controls the operation of the actuator device by setting the actual vehicle actuator operation control input to zero.

7. The vehicle control device according to claim 2, wherein the actuator device control means includes a means which controls the operation of the actuator device on the basis of a resultant value of the actual vehicle actuator operation control input and a feedforward control input determined on the basis of at least a drive manipulated variable, and

the estimated value is the estimated value of a difference between an external force acting on the actual vehicle in the case where the actuator device control means controls the operation of the actuator device on the basis of a resultant value of the determined actual vehicle actuator operation control input and the feedforward control input and an external force acting on the actual vehicle in the case where the actuator device control means controls the operation of the actuator device by using the feedforward control input instead of the resultant value.

8. The vehicle control device according to claim 2, wherein the model state amount error response control means comprises a means which determines a basic value of the vehicle model operation control input such that the first state amount error is approximated to zero while restraining a restriction object amount, whose value is defined on the basis of at least one of a second state amount related to a motion of the actual vehicle and a second state amount related to a motion of the vehicle in the vehicle model, from deviating from a predetermined permissible range, a means which determines the estimated value on the basis of the determined actual vehicle actuator operation control input, and a means which determines the vehicle model operation control input on the basis of the determined basic value and the determined estimated value.

9. The vehicle control device according to claim 2, wherein the actual vehicle state amount error response control means comprises a means which determines an external force required amount that defines an external force to be applied to the actual vehicle such that the first state amount error is approximated to zero while restraining a restriction object amount, whose value is defined on the basis of at least one of a second state amount related to a motion of the actual vehicle and a second state amount related to a motion of the vehicle in the vehicle model, from deviating from a predetermined permissible range, and a means which determines the actual vehicle actuator operation control input on the basis of the determined external force required amount.

10. The vehicle control device according to claim 8, wherein the model state amount error response control means determines a basic value of the vehicle model operation control input such that the amount of deviation of the restriction object amount from the permissible range and the first state amount error are brought close to zero on the basis of the amount of the deviation and the first state amount error.

11. The vehicle control device according to claim 9, wherein the actual vehicle state amount error response control means determines the external force required amount such that the amount of deviation of the restriction object amount from the permissible range and the first state amount error are brought close to zero on the basis of the amount of the deviation and the first state amount error.

12. The vehicle control device according to claim 8, wherein the first state amount includes a state amount related to a rotational motion in a yaw direction of the vehicle, and the restriction object amount includes at least one of a latest value of a state amount related to a lateral translational motion of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the state amount or a predicted value in the future of the state amount, and a latest value of a state amount related to a rotational motion in the yaw direction of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the state amount or a predicted value in the future of the state amount.

13. The vehicle control device according to claim 9, wherein the first state amount includes a state amount related to a rotational motion in a yaw direction of the vehicle, and the restriction object amount includes at least one of a latest value of a state amount related to a lateral translational motion of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the state amount or a predicted value in the future of the state amount, and a latest value of a state amount related to a rotational motion in the yaw direction of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the state amount or a predicted value in the future of the state amount.

14. The vehicle control device according to claim 12, wherein the restriction object amount includes a latest value of a yaw rate of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the yaw rate or a predicted value of the yaw rate in the future as a state amount related to the rotational motion in the yaw direction, and

the permissible range for the yaw rate is a permissible range set on the basis of at least an actual traveling velocity such that the permissible range narrows as the actual traveling velocity, which is a value of a traveling velocity of the actual vehicle, increases.

15. The vehicle control device according to claim 13, wherein the restriction object amount includes a latest value of a yaw rate of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the yaw rate or a predicted value of the yaw rate in the future as a state amount related to the rotational motion in the yaw direction, and

the permissible range for the yaw rate is a permissible range set on the basis of at least an actual traveling velocity such that the permissible range narrows as the actual traveling velocity, which is a value of a traveling velocity of the actual vehicle, increases.

16. The vehicle control device according to claim 12, wherein the restriction object amount includes a latest value of a state amount related to a lateral translational motion of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the state amount or a predicted value in the future of the state amount, and the vehicle model operation control input includes at least a control input component that causes a moment in the yaw direction to be generated about the center-of-gravity point of the vehicle on the vehicle model.

17. The vehicle control device according to claim 13, wherein the restriction object amount includes a latest value of a state amount related to a lateral translational motion of the actual vehicle or the vehicle on the vehicle model or a value obtained by filtering the state amount or a predicted value in the future of the state amount, and the vehicle model operation control input includes at least a control input component that causes a moment in the yaw direction to be generated about the center-of-gravity point of the vehicle on the vehicle model.