Vehicle control device and vehicle control method
First Claim
1. A vehicle control device for controlling a motion state of a vehicle, comprising:
- an estimating unit estimating an element of a system matrix in a state equation that represents the motion state of the vehicle, based on state quantity including at least a longitudinal force applied to a wheel, a vertical force applied to the wheel and a vehicle speed;
a setting unit setting a target value regarding the element of the system matrix;
a processing unit calculating a control value so that the estimated element approaches the set target value; and
a controlling unit controlling the vehicle based on the calculated control value, wherein the element is expressed by a sum of a linear term changing with linearity of the wheel and a nonlinear term changing with nonlinearity of the wheel, and the setting unit sets the linear term of the element as the target value.
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Accused Products
Abstract
An estimating unit 7 estimates an element aij of a system matrix based on state quantity including at least a longitudinal force Fx applied to a wheel, a vertical force Fz applied to the wheel and a vehicle speed V. A setting unit 8 sets a target value aij′ regarding the element aij of the system matrix. A processing unit 9 calculates a control value so that the estimated element aij approaches the set target value aij′. Controlling units 10 to 13 control a vehicle based on the calculated control value. Here, the element aij is expressed by a sum of a linear term changing with linearity of the wheel and a nonlinear term changing with nonlinearity of the wheel, and the setting unit 8 sets the linear term of the element aij as the target value aij′.
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Citations
26 Claims
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1. A vehicle control device for controlling a motion state of a vehicle, comprising:
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an estimating unit estimating an element of a system matrix in a state equation that represents the motion state of the vehicle, based on state quantity including at least a longitudinal force applied to a wheel, a vertical force applied to the wheel and a vehicle speed;
a setting unit setting a target value regarding the element of the system matrix;
a processing unit calculating a control value so that the estimated element approaches the set target value; and
a controlling unit controlling the vehicle based on the calculated control value, wherein the element is expressed by a sum of a linear term changing with linearity of the wheel and a nonlinear term changing with nonlinearity of the wheel, and the setting unit sets the linear term of the element as the target value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A vehicle control method for controlling a motion state of a vehicle, comprising:
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a first step of estimating an element of a system matrix in a state equation that represents the motion state of the vehicle, based on state quantity including at least a longitudinal force applied to a wheel, a vertical force applied to the wheel and a vehicle speed;
a second step of setting a target value regarding the element of the system matrix;
a third step of calculating a control value so that the estimated element approaches the set target value; and
a fourth step of controlling the vehicle based on the calculated control value, wherein the element is expressed by a sum of a linear term changing with linearity of the wheel and a nonlinear term changing with nonlinearity of the wheel, and the second step includes a step of setting the linear term of the element as the target value. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26)
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Specification