Control device, control method, and control system
A control device, a control method, and a control system according to the present invention each actively allow an amount of change in a yaw rate, which is generated in the vehicle in response to a steering operation, per unit time to be changed in a vehicle including a steer-by-wire steering apparatus on the basis of a first physical quantity related to operation information on a steering operation input device and a second physical quantity related to acceleration and deceleration of the vehicle. This makes it possible to increase the steering easiness or increase the steering accuracy.
1 . A control device that is provided in a vehicle,
the vehicle including a steer-by-wire steering apparatus that includes a steering operation input device configured to receive a steering operation of a driver of the vehicle, and a steering device including a steering actuator configured to apply a steering force to a wheel, the control device comprising:
a controller configured to output a control signal of the steering actuator, wherein the controller
acquires a first physical quantity related to operation information on the steering operation input device, a second physical quantity related to deceleration of the vehicle in the traveling direction, and a third physical quantity related to lateral acceleration of the vehicle,
obtains a target yaw rate based on the first physical quantity,
performs feedback control for obtaining a control signal to cause a yaw rate generated in the vehicle to follow the target yaw rate, and
allows a gain in the feedback control to be changed based on the second physical quantity and the third physical quantity, and changes an amount of change in the yaw rate per unit time, the yaw rate being generated in the vehicle in response to the steering operation.
2 . The control device according to claim 1 , wherein, when the controller detects, on the basis of the first physical quantity and the second physical quantity, that the steering operation of the driver is input to the steering operation input device from a state in which the vehicle is decelerated while traveling straight, the controller allows the gain to be changed based on the second physical quantity and the third physical quantity to suppress an increase in the amount of change in the yaw rate per unit time.
3 . The control device according to claim 1 , wherein
the controller includes a driving skill information acquisition section configured to acquire information indicating a proficiency level of a driving skill of the driver, and
when the controller detects, on the basis of the first physical quantity and the second physical quantity, that the steering operation of the driver is input to the steering operation input device from a state in which the vehicle is decelerated while traveling straight, the controller allows the gain to be changed, and
when the controller allows the gain to be changed, the controller sets the gain to increase the amount of change in the yaw rate per unit time as the proficiency level of the driving skill is higher.
4 . The control device according to claim 1 , wherein, when the controller detects, on the basis of the first physical quantity and the second physical quantity, that a steering operation in a direction opposite to a turning direction is carried out from a state in which the vehicle is decelerated while making a turn, the controller sets the gain to increase the amount of change in the yaw rate per unit time corresponding to an input of the steering operation.
5 . The control device according to claim 1 , wherein
the controller includes a driving skill information acquisition section configured to acquire information indicating the proficiency level of a driving skill of the driver, and
when the controller detects, on the basis of the first physical quantity and the second physical quantity, that a steering operation in a direction opposite to a turning direction is carried out from a state in which the vehicle is decelerated while making a turn, the controller switches a processing of setting the gain from a processing in which the gain is changed based on the second physical quantity and the third physical quantity to a processing in which the gain is fixed based on the proficiency level of the driving skill.
6 . The control device according to claim 1 , wherein
the controller obtains an estimation yaw rate by using a vehicle model having a steering angle of the wheel as an input value, the estimation yaw rate being an estimation value of the yaw rate that is generated in the vehicle, and
the controller obtains the control signal to cause the estimation yaw rate to follow the target yaw rate obtained on a basis of the first physical quantity.
7 . The control device according to claim 1 , wherein
the controller includes a driving skill information acquisition section configured to acquire information indicating the proficiency level of a driving skill of the driver, and
the controller switches a processing of setting the gain from a processing in which the gain is changed based on the second physical quantity and the third physical quantity to a processing in which the gain is fixed based on the proficiency level of the driving skill.
8 . A control method that is executed by a controller, the controller being mounted on a vehicle,
the vehicle including a steer-by-wire steering apparatus,
the steer-by-wire steering apparatus including a steering operation input device configured to receive a steering operation of a driver of the vehicle, and a steering device including a steering actuator configured to apply a steering force to a wheel of the vehicle,
the control method comprising steps of:
acquiring a first physical quantity related to operation information on the steering operation input device, a second physical quantity related to deceleration of the vehicle in the traveling direction, and a third physical quantity related to lateral acceleration of the vehicle;
obtaining a target yaw rate based on the first physical quantity, and
performing feedback control for obtaining a control signal to cause a yaw rate generated in the vehicle to follow the target yaw rate,
the step of performing feedback control includes a step of allowing a gain in the feedback control to be changed based on the second physical quantity and the third physical quantity, and changing an amount of change in a yaw rate per unit time, the yaw rate being generated in the vehicle in response to the steering operation.
9 . A control system that is provided in a vehicle, the control system comprising:
a steer-by-wire steering apparatus including a steering operation input device configured to receive a steering operation of a driver of a vehicle, and a steering device including a steering actuator configured to apply a steering force to a wheel of the vehicle; and
a control device including a controller configured to output a control signal of the steering actuator, wherein
the controller
acquires a first physical quantity related to operation information on the steering operation input device, a second physical quantity related to deceleration of the vehicle in the traveling direction, and a third physical quantity related to lateral acceleration of the vehicle,
obtains a target yaw rate based on the first physical quantity,
performs feedback control for obtaining a control signal to cause a yaw rate generated in the vehicle to follow the target yaw rate, and
allows a gain in the feedback control to be changed based on the second physical quantity and the third physical quantity, and changes an amount of change in the yaw rate per unit time, the yaw rate being generated in the vehicle in response to the steering operation.
10 . The control device according to claim 1 , wherein
the controller includes a driving skill information acquisition section configured to acquire information indicating the proficiency level of a driving skill of the driver, and
the controller changes setting characteristics of the gain for the second physical quantity and the third physical quantity in response to the high or low proficiency level of the driving skill.
11 . The control device according to claim 10 , wherein
the vehicle includes a mode selection switch for optionally selecting response characteristics of a vehicle behavior with respect to an operation on the steering operation input device by the driver, and
the driving skill information acquisition section acquires mode selection information of the mode selection switch as information indicating the proficiency level of the driving skill.
12 . The control device according to claim 10 , wherein the driving skill information acquisition section acquires information indicating the proficiency level of the driving skill from a steering operation by a driver, and a history of lateral acceleration, and front-rear acceleration generated through the steering operation.
13 . The control device according to claim 10 , wherein
the vehicle includes a skid preventing device of which operation is optionally turned on or off by the driver, and
the driving skill information acquisition section acquires information for turning on and off the skid preventing device as information indicating the proficiency level of the driving skill.