Driver model and assistance function evaluation apparatus and method for vehicle dynamics control system in which driver model is equipped
First Claim
1. A driver model apparatus used to reproduce a travel along a set target course through a simulation, comprising:
- a calculating section that detects a positional deviation quantity as a deviation between a vehicular lateral displacement which would be developed in a case where the vehicle is advanced to a forward gaze point with a present vehicle posture maintained, the forward gaze point being a location point separated from the vehicle by a predetermined forward gaze distance and a location on the set target course which would develop in a case where the vehicle is advanced on the target course, detects a yaw angle deviation quantity as a deviation of a yaw angle displacement and a target yaw angle and calculates a steering angle imposed on a vehicle model through a feedback control using the positional deviation quantity, a positional deviation gain, the yaw angle deviation quantity and a yaw angle deviation gain.
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Abstract
In assistance function evaluation apparatus and method for a vehicle dynamics control system, the vehicle dynamics control system being an object to be evaluated, a simulator is provided to obtain a data base when the vehicle dynamics control system is operated, a vehicle model, a road surface environment model, and a driver model that calculates a steering angle imposed on the vehicle model to trace a target course are provided, the simulator comprises a driver intention quantity detecting section that detects an intention quantity of a vehicle driver to move the vehicle in a lateral direction and a system function detecting section that detects a function quantity of the vehicle dynamics control system and evaluates that the assistance function of the vehicle dynamics control system is in conformity to the driver when the system function quantity and the driver intention quantity are balanced without excess or deficiency.
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Citations
16 Claims
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1. A driver model apparatus used to reproduce a travel along a set target course through a simulation, comprising:
a calculating section that detects a positional deviation quantity as a deviation between a vehicular lateral displacement which would be developed in a case where the vehicle is advanced to a forward gaze point with a present vehicle posture maintained, the forward gaze point being a location point separated from the vehicle by a predetermined forward gaze distance and a location on the set target course which would develop in a case where the vehicle is advanced on the target course, detects a yaw angle deviation quantity as a deviation of a yaw angle displacement and a target yaw angle and calculates a steering angle imposed on a vehicle model through a feedback control using the positional deviation quantity, a positional deviation gain, the yaw angle deviation quantity and a yaw angle deviation gain. - View Dependent Claims (2)
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3. An assistance function evaluation apparatus for a vehicle dynamics control system, the vehicle dynamics control system being an object to be evaluated and the assistance function evaluation apparatus comprising:
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models modeled for vehicle elements other than the vehicle dynamics control system, the models comprising; a vehicle model that is architected with parameterized characteristics of parts of a vehicle; a road surface environment model that prescribes a target course; and a driver model that calculates a steering angle imposed on the vehicle model to trace the target course; and a simulator configured to obtain a data base when the vehicle dynamics control system is operated, the simulator comprising; a driver intention quantity detecting section that detects an intention quantity of a vehicle driver to move the vehicle in a lateral direction; and a system function detecting section that detects a function quantity of the vehicle dynamics control system, and wherein the simulator is configured for evaluating that an assistance function of the vehicle dynamics control system is in conformity to the driver when the system function quantity and the driver intention quantity are balanced without excess or deficiency. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An assistance function evaluation method for a vehicle dynamics control system, the vehicle dynamics control system being an object to be evaluated and the assistance function evaluation method comprising:
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providing models modeled for vehicle elements other than the vehicle dynamics control system, the models comprising; a vehicle model that is architected with parameterized characteristics of parts of a vehicle; a road surface environment model that prescribes a target course; and a driver model that calculates a steering angle imposed on the vehicle model to trace the target course; and a simulator configured to obtain a data base when the vehicle dynamics control system is operated, the simulator is configured to perform the steps of; detecting an intention quantity of a vehicle driver to move the vehicle in a lateral direction, detecting a function quantity of the vehicle dynamics control system, and evaluating that an assistance function of the vehicle dynamics control system is in conformity to the driver when the system function quantity and the driver intention quantity are balanced without excess or deficiency.
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Specification