Apparatus for controlling motion of vehicle
A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.
1. A vehicle motion control apparatus comprising:
an assist torque setting unit which sets an assist torque and transmits a value of the assist torque to a steering control unit, wherein the assist torque is generated in the steering actuator by the steering control unit;
a braking torque setting unit which sets a braking torque and transmits the value of the braking torque to a braking control unit, wherein the braking torque is generated in a braking actuator by the braking control unit; and
a control allocation unit which
receives a signal transmitted from any one of vehicle turning motion control applications mounted on a desired value request unit, the signal indicates a selected result selecting which of steering control and braking control is to be performed in the vehicle motion control apparatus,
receives a desired value for vehicle turning motion from the desired value request unit,
outputs a main request value for performing the selected control of either the assist torque setting unit or the braking torque setting unit according to the signal and the desired value, and
outputs a difference value, the difference value being the difference between the desired value and the main request value as a non-main request value to another unit to which the main request value is not output, according to the signal and the desired value.
2. The vehicle motion control apparatus according to claim 1 , wherein the control allocation unit
outputs an assist torque limit value to the assist torque setting unit as the main request value and outputs the difference value between the desired value and the main request value to the braking torque setting unit as the non-main request value, in a case where the control apparatus performs the steering control, and
outputs a braking torque limit value to the braking torque setting unit as the main request value and outputs the difference value between the desired value and the main request value to the assist torque setting unit as the non-main request value, in a case where the control apparatus performs the braking control.
3. The vehicle motion control apparatus according to claim 2 , wherein
the assist torque setting unit comprises:
a first normative value setting part which sets a first normative value including a response delay against the request value outputted to the steering actuator,
a first actual physical value detecting part which detects a first physical value actually applied to the vehicle,
a first feedback control part which sets a first feedback control value on a basis of a difference between the first normative value and the first physical value, and
an assist torque changing part which outputs the assist torque to the steering control unit on a basis of the first feedback control value, and
the braking torque setting unit comprises:
a second normative value setting part which sets a second normative value including a response delay against the request value outputted to the braking actuator,
a second actual physical value detecting part which detects a second physical value actually applied to the vehicle,
a second feedback control part which sets a second feedback control value on a basis of a difference between the second normative value and the second physical value, and
a braking torque changing part which outputs the braking torque to the braking control unit on a basis of the second feedback control value.
4. The vehicle motion control apparatus according to claim 3 , wherein the assist torque setting unit comprises a first calculating part which
outputs the main request value to the first normative setting part and outputs the difference value between the main request value and the first normative value as a specific correction value to the braking torque setting unit in a case where the control apparatus performs the steering control, and
outputs a value to which a specific correction value is added to the first normative value setting part in a case where the control apparatus performs the braking control, wherein the specific correction value is inputted from the braking torque setting unit to the non-main request value, and
the braking torque setting unit comprises a second calculating part which
outputs a value to which a specific correction value is added to the second normative value setting part in a case where the control apparatus performs the steering control, wherein the specific correction value is inputted from the assist torque setting unit to the non-main request value, and
outputs the main request value to the second normative setting part and outputs the difference value between the main request value and the second normative value as a specific correction value to the assist torque setting unit in a case where the control apparatus performs the braking control.
5. The vehicle motion control apparatus according to claim 1 , wherein
when the control allocation unit has received a selected result indicating that the steering control is to be performed from an application for emergency avoidance against a collision with a sudden jumping out object located in front of the vehicle and then received a desired value from the desired value request unit,
the control allocation unit outputs the main request value to the assist torque setting unit and also outputs the non-main request value to the braking torque setting unit,
the assist torque setting unit transmits the assist torque based on the main request value to the steering control unit, and
the braking torque setting unit transmits the braking torque based on the non-main request value to the braking control unit.
6. The vehicle motion control apparatus according to claim 1 , wherein
when the control allocation unit has received a selected result indicating that the braking control is to be performed from an application for performing speed reduction at the time of turning of the vehicle and then received a desired value from the desired value request unit,
the control allocation unit outputs the main request value to the braking torque setting unit and also outputs the non-main request value to the assist torque setting unit,
the braking torque setting unit transmits the braking torque based on the main request value to the braking control unit, and
the assist torque setting unit transmits the assist torque based on the non-main request value to the steering control unit.
7. The vehicle motion control apparatus according to claim 1 , wherein the vehicle turning motion control application is composed of at least one of lane keep control application, a lane departure control application, a pre-crash control application, a navigation cooperation assist control application, and a turn assist control application.