Vehicle movement control device and vehicle movement control method
A vehicle movement control device generates a target motion vector that falls within a desired controllable range in a motion space, and integrally controls a plurality of actuators to realize a vehicle movement defined by the target motion vector, thereby improving ride comfort and operation feeling. The vehicle movement control device that controls the plurality of actuators in accordance with a travel state, the vehicle movement control device including: a vehicle movement planning unit configured to generate a target motion vector based on input travel state information; an operation amount arbitration unit configured to calculate an operation amount of each actuator based on the target motion vector; and an actuator control unit configured to control each actuator based on the operation amount, in which the vehicle movement planning unit generates the target motion vector within a controllable range in a motion space acquired from the operation amount arbitration unit.
1 . A vehicle movement control device that controls a vehicle movement by integrally controlling a plurality of actuators in accordance with a travel state, the vehicle movement control device comprising:
a vehicle movement planning unit configured to generate a target motion vector based on input travel state information;
an operation amount arbitration unit configured to calculate an operation amount of each actuator based on the target motion vector; and
an actuator control unit configured to control each actuator based on the operation amount of each actuator,
wherein the vehicle movement planning unit generates the target motion vector within a controllable range in a motion space, the controllable range having a three-dimensional shape that changes based on a reserve power of actuators available for improving ride comfort and operation feeling, acquired from the operation amount arbitration unit, and wherein the vehicle movement planning unit recalculates the target motion vector to fall within an updated controllable range when the controllable range is updated,
wherein the target motion vector is disposed in a motion space comprising three axes of an acceleration in a front-rear direction, an acceleration in a lateral direction, and an acceleration in a vertical direction, the target motion vector defining the acceleration in the front-rear direction, the acceleration in the lateral direction, and the acceleration in the vertical direction at a start point, the target motion vector defining a roll angle and a pitch angle by an inclination, and the target motion vector defining a yaw rate by a posture.
2 . The vehicle movement control device according to claim 1 , wherein the travel state is a travel state defined by driver operation information, external information, or sensor information of a vehicle body.
3 . The vehicle movement control device according to claim 1 , wherein the target motion vector defines a vehicle movement with six degrees of freedom comprising the acceleration in the front-rear direction, the acceleration in the lateral direction, the acceleration in the vertical direction, the roll angle, the pitch angle, and the yaw rate.
4 . The vehicle movement control device according to claim 1 , wherein the target motion vector is a vector defining a vehicle movement with six degrees of freedom comprising the acceleration in the front-rear direction, the acceleration in the lateral direction, a position in a vertical direction, the roll angle, the pitch angle, and the yaw rate.
5 . The vehicle movement control device according to claim 1 , wherein the controllable range includes a lower flat ball portion defining a settable range of a start point of a motion vector and an upper truncated cone portion defining an inclinable range of the motion vector.
6 . The vehicle movement control device according to claim 1 , wherein during acceleration of the vehicle, the controllable range has a three-dimensional shape in which a positive direction side of a front-rear acceleration axis is eroded compared to when a vehicle travels at a constant speed.
7 . The vehicle movement control device according to claim 1 , wherein the vehicle movement planning unit changes a calculation condition of the target motion vector when the target motion vector is out of the controllable range.
8 . The vehicle movement control device according to claim 1 , wherein the plurality of actuators include in-wheel type motors attached to each wheel, wherein each wheel independently rotates by one or more motors.
9 . The vehicle movement control device according to claim 1 , wherein the plurality of actuators include active suspensions provided between each motor and a vehicle body.
10 . The vehicle movement control device according to claim 1 , wherein the plurality of actuators include control stabilizers that electrically arbitrate a torsion angle to suppress a roll amount of the vehicle.
11 . The vehicle movement control device according to claim 1 , wherein the operation amount arbitration unit actively generates desired pitching or rolling by arbitrating the operation amount of each actuator.
12 . The vehicle movement control device according to claim 1 , wherein the target motion vector is a facial vector disposed in the motion space.
13 . A vehicle movement control device that controls a vehicle movement by integrally controlling a plurality of actuators in accordance with a travel state, the vehicle movement control device comprising:
a vehicle movement planning unit configured to generate a target motion vector based on input travel state information;
an operation amount arbitration unit configured to calculate an operation amount of each actuator based on the target motion vector; and
an actuator control unit configured to control each actuator based on the operation amount of each actuator,
wherein the vehicle movement planning unit generates the target motion vector within a controllable range in a motion space, the controllable range having a three-dimensional shape that changes based on a reserve power of actuators available for improving ride comfort and operation feeling, acquired from the operation amount arbitration unit, and wherein the vehicle movement planning unit recalculates the target motion vector to fall within the updated controllable range when the controllable range is updated,
wherein the target motion vector is disposed in a motion space including three axes of an acceleration in a front-rear direction, an acceleration in a lateral direction, a position in a vertical direction, the target motion vector defining the acceleration in the front-rear direction, the acceleration in the lateral direction, and the position in the vertical direction at a start point, the target motion vector defining a roll angle and a pitch angle by an inclination, and the target motion vector defining a yaw rate by a posture.
14 . The vehicle movement control device according to claim 13 , wherein the controllable range includes a lower flat ball portion defining a settable range of a start point of the motion vector and an upper truncated cone portion defining an inclinable range of the motion vector.
15 . A vehicle movement control device that controls a vehicle movement by integrally controlling a plurality of actuators in accordance with a travel state, the vehicle movement control device comprising:
a vehicle movement planning unit configured to generate a target motion vector based on input travel state information;
an operation amount arbitration unit configured to calculate an operation amount of each actuator based on the target motion vector; and
an actuator control unit configured to control each actuator based on the operation amount of each actuator,
wherein the vehicle movement planning unit generates the target motion vector within a controllable range in a motion space, the controllable range having a three-dimensional shape that changes based on a reserve power of actuators available for improving ride comfort and operation feeling, acquired from the operation amount arbitration unit, and wherein the vehicle movement planning unit recalculates the target motion vector to fall within the updated controllable range when the controllable range is updated,
wherein the actuator control unit transmits action information of each actuator to the operation amount arbitration unit, and the operation amount arbitration unit updates a controllable range in the motion space based on the action information of each actuator.
16 . The vehicle movement control device according to claim 15 , wherein when the operation amount arbitration unit updates the controllable range in the motion space, the vehicle movement planning unit generates the target motion vector within the controllable range updated by the operation amount arbitration unit.
17 . A vehicle movement control method for controlling a vehicle movement by integrally controlling a plurality of actuators in accordance with a travel state, the vehicle movement control method comprising:
generating, by a vehicle movement planning unit, a target motion vector within a controllable range in a motion space, the controllable range having a three-dimensional shape that changes based on a reserve power of actuators available for improving ride comfort and operation feeling, based on input travel state information;
calculating, by an operation amount arbitration unit, an operation amount of each actuator based on the target motion vector;
controlling, by an actuator control unit, each actuator based on the operation amount of each actuator; and
updating, by the operation amount arbitration unit, the controllable range in the motion space based on action information of each actuator; and
recalculating, by the vehicle movement planning unit, the target motion vector to fall within an updated controllable range when the controllable range is updated,
wherein generating the target motion vector within the controllable range in the motion space is acquired from the operation amount arbitration unit.
18 . The vehicle movement control method according to claim 17 , further comprising changing, by the vehicle movement planning unit, a calculation condition of the target motion vector when the target motion vector is out of the controllable range.