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Vehicle control device

  • US 8,027,775 B2
  • Filed: 12/21/2006
  • Issued: 09/27/2011
  • Est. Priority Date: 12/27/2005
  • Status: Active Grant
First Claim
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1. A vehicle control device equipped with a drive manipulated variable detecting means which detects a drive manipulated variable indicative of 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 permit the manipulation of the driving/braking force of each wheel 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 which detects or estimates a first actual state amount, which is the value of a first state amount related to a rotational motion in the yaw direction of an actual vehicle or the value of a first state amount related to the rotational motion in the yaw direction and a translational motion in a lateral direction;

    a reference value determining means which determines a first reference value, which is a reference value of the first state amount, on the basis of at least the detected drive manipulated variable;

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

    a basic required manipulated variable determining means which determines a basic required manipulated variable for operating the actuator device to approximate the first state amount error to zero on the basis of the calculated first state amount error; and

    a driving/braking force manipulation control input determining means which determines, on at least one particular set among the sets of front wheels and rear wheels immediately behind the front wheels of the actual vehicle, a driving/braking force manipulation control input, which is a control input for manipulating the driving/braking force of each of the front wheel and the rear wheel of the particular set, such that the relationship between at least a change in the basic required manipulated variable and a change in the driving/braking force manipulation control input will be a proportional relationship,wherein the actuator device control means is a means which manipulates the driving/braking force of each of the front wheel and the rear wheel of the particular set through the intermediary of the actuator device by controlling the operation of the actuator device on the basis of at least the determined driving/braking force manipulation control input,the driving/braking force manipulation control input determining means uses one of a state amount related to a lateral motion of at least one front wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a front portion of the vehicle, a lateral force acting from a road surface onto at least one front wheel of the vehicle, and a parameter having correlation with one of the state amounts and the lateral force, as a front wheel gain adjustment parameter, determines the driving/braking force manipulation control input of the front wheel of the particular set on the basis of at least the front wheel gain adjustment parameter and the determined basic required manipulated variable such that a front wheel gain, which indicates the ratio of a change in the driving/braking force manipulation control input of the front wheel of the particular set with respect to a change in the basic required manipulated variable, changes on the basis of the front wheel gain adjustment parameter, uses, as a rear wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the vehicle, a lateral force acting from a road surface onto at least one rear wheel of the vehicle, and a parameter having correlation with at least one of the state amounts and the lateral force, and determines the driving/braking force manipulation control input of the rear wheel of the particular set on the basis of at least the rear wheel gain adjustment parameter and the determined basic required manipulated variable such that a rear wheel gain, which indicates the ratio of a change in the driving/braking force manipulation control input of the rear wheel of the particular set with respect to a change in the basic required manipulated variable, changes on the basis of the rear wheel gain adjustment parameter, andwherein a state amount related to a lateral motion of the front wheel or the rear wheel is one of a side slip angle, a side slip velocity, and a lateral acceleration of the front wheel or the rear wheel, and a state amount related to a lateral motion at a predetermined position of a front portion or a rear portion of the vehicle is one of a side slip angle, a side slip velocity, and a lateral acceleration at the predetermined position.

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