Vehicle
The center of gravity of a vehicle is estimated to obtain, a limit lateral acceleration a lim (=a Min , a Max ), and the vehicle turns in a target running state (V*, γ*) requested by an occupant provided the lateral acceleration a* does not exceed the limit lateral acceleration a lim . On the other hand, if the requested running state (V*, γ*) exceeds the limit lateral acceleration a aim , an ideal target running state (V*, γ*) is limited to an actual target running state (V*˜, γ*˜) so that the lateral acceleration a* equals to the limit lateral acceleration a aim . Because turning speed and turning curvature are not limited more than necessary, it is possible to achieve maximum use of turning performance of the vehicle up to the limit thereof.
1. A vehicle including two drive wheels arranged facing each other, the vehicle comprising:
target running state acquiring means for acquiring a target speed V* and a target curvature γ*;
running control means for controlling running with the target speed V* and the target curvature γ* that have been acquired;
center-of-gravity position acquiring means for acquiring a position of center of gravity of the vehicle including a loaded article;
limit lateral acceleration determination means for determining a limit lateral acceleration alim corresponding to the position of center of gravity acquired; and
limiting means for limiting at least one of the target speed V* and the target curvature γ* that have been acquired so that a target lateral acceleration a* corresponding to the target speed V* and the target curvature γ* that have been acquired is made equal to or less than the limit lateral acceleration alim, in the case that the target lateral acceleration a* exceeds the limit lateral acceleration alim.
2. The vehicle according to claim 1 , wherein:
the limiting means performs the limitation to values that have the smallest differences from the target speed V* and the target curvature γ* that have been acquired.
3. The vehicle according to claim 2 , wherein:
the limiting means performs the limitation to values that have the smallest differences from the target speed V* and the target curvature γ* that have been acquired in the case that both of temporal rates of change in the target speed V* and the target curvature γ* that have been acquired are predetermined threshold values or less, or
limits at least one having a smaller temporal rate of change than the other of the acquired target speed V* and the acquired target curvature γ*, responsive to a determination that at least one of the temporal rates of change in the target speed V* and the target curvature γ* that have been acquired is more than the predetermined threshold value.
4. The vehicle according to claim 3 , wherein:
the limiting means limits at least one of the target speed V* and the target curvature γ* that have been acquired so that the target lateral acceleration a* is equal to the limit lateral acceleration alim.
5. The vehicle according to claim 4 , further comprising:
a load sensor installed at a loading portion;
a height sensor that measures a height of a weight body; and
loaded article center-of-gravity acquiring means that acquires a position of center of gravity of the loaded article based on detection values of the load sensor and the height sensor, wherein
the center-of-gravity position acquiring means acquires the position of center of gravity of the vehicle including the loaded article based on the position of center of gravity of the loaded article acquired and a predefined position of center of gravity of the vehicle.
6. The vehicle according to claim 5 , wherein:
the running control means controls running by feedback control by controlling the target speed V* and the target curvature γ* as direct controlled objects.
7. The vehicle according to claim 4 , wherein:
the running control means controls running by feedback control by controlling the target speed V* and the target curvature γ* as direct controlled objects.
8. The vehicle according to claim 3 , further comprising:
a load sensor installed at a loading portion;
a height sensor that measures a height of a weight body; and
loaded article center-of-gravity acquiring means that acquires a position of center of gravity of the loaded article based on detection values of the load sensor and the height sensor, wherein
the center-of-gravity position acquiring means acquires the position of center of gravity of the vehicle including the loaded article based on the position of center of gravity of the loaded article acquired and a predefined position of center of gravity of the vehicle.
9. The vehicle according to claim 3 , wherein:
the running control means controls running by feedback control by controlling the target speed V* and the target curvature γ* as direct controlled objects.
10. The vehicle according to claim 2 , wherein:
the limiting means limits at least one of the target speed V* and the target curvature γ* that have been acquired so that the target lateral acceleration a* is equal to the limit lateral acceleration alim.
11. The vehicle according to claim 10 , further comprising:
a load sensor installed at a loading portion;
a height sensor that measures a height of a weight body; and
loaded article center-of-gravity acquiring means that acquires a position of center of gravity of the loaded article based on detection values of the load sensor and the height sensor, wherein
the center-of-gravity position acquiring means acquires the position of center of gravity of the vehicle including the loaded article based on the position of center of gravity of the loaded article acquired and a predefined position of center of gravity of the vehicle.
12. The vehicle according to claim 2 , further comprising:
a load sensor installed at a loading portion;
a height sensor that measures a height of a weight body; and
loaded article center-of-gravity acquiring means that acquires a position of center of gravity of the loaded article based on detection values of the load sensor and the height sensor, wherein
the center-of-gravity position acquiring means acquires the position of center of gravity of the vehicle including the loaded article based on the position of center of gravity of the loaded article acquired and a predefined position of center of gravity of the vehicle.
13. The vehicle according to claim 2 , wherein:
the running control means controls running by feedback control by controlling the target speed V* and the target curvature γ* as direct controlled objects.
14. The vehicle according to claim 1 , wherein:
the limiting means performs the limitation to values that have the smallest differences from the target speed V* and the target curvature γ* that have been acquired in the case that both of temporal rates of change in the target speed V* and the target curvature γ* that have been acquired are predetermined threshold values or less, or
limits at least one having a smaller temporal rate of change than the other of the acquired target speed V* and the acquired target curvature γ*, responsive to a determination that at least one of the temporal rates of change in the target speed V* and the target curvature γ* that have been acquired is more than the predetermined threshold value.
15. The vehicle according to claim 14 , wherein:
the limiting means limits at least one of the target speed V* and the target curvature γ* that have been acquired so that the target lateral acceleration a* is equal to the limit lateral acceleration alim.
16. The vehicle according to claim 1 , wherein:
the limiting means limits at least one of the target speed V* and the target curvature γ* that have been acquired so that the target lateral acceleration a* is equal to the limit lateral acceleration alim.
17. The vehicle according to claim 1 , further comprising:
a load sensor installed at a loading portion;
a height sensor that measures a height of a weight body; and
loaded article center-of-gravity acquiring means that acquires a position of center of gravity of the loaded article based on detection values of the load sensor and the height sensor, wherein
the center-of-gravity position acquiring means acquires the position of center of gravity of the vehicle including the loaded article based on the position of center of gravity of the loaded article acquired and a predefined position of center of gravity of the vehicle.
18. The vehicle according to claim 1 , wherein:
the running control means controls running by feedback control by controlling the target speed V* and the target curvature γ* as direct controlled objects.