Apparatus and method for controlling vehicle
An apparatus for controlling a vehicle includes a vehicle additional yaw moment calculator that calculates, based on a yaw rate of a vehicle, a vehicle additional yaw moment to be applied to the vehicle independently of a steering system, a slipping condition determiner that makes a determination as to a slipping condition of the vehicle, and an adjustment gain calculator that calculates an adjustment gain to adjust the vehicle additional yaw moment so as to reduce the vehicle additional yaw moment additional yaw moment when the vehicle is determined to be in the slipping condition, and increases the adjustment gain in accordance with a degree of a slip of the vehicle when the vehicle is determined to recover from the slipping condition.
1. An apparatus, comprising:
a controller configured to:
calculate, based on a yaw rate of a vehicle, a vehicle additional yaw moment to be applied to the vehicle independently of a steering system;
calculate a theoretical vehicle slip angle based on a vehicle model;
calculate an actual vehicle slip angle of the vehicle based on a sensor value;
determine a slipping condition of the vehicle;
calculate an adjustment gain to adjust the vehicle additional yaw moment so as to reduce the vehicle additional yaw moment when the vehicle is determined to be in the slipping condition;
increase the adjustment gain in accordance with a degree of a slip of the vehicle when the vehicle is determined to recover from the slipping condition,
wherein the adjustment gain is increased based on a difference between the theoretical vehicle slip angle and the actual vehicle slip angle, and
wherein a rate of the increase in the adjustment gain decreases as the difference between the theoretical vehicle slip angle and the actual vehicle slip angle increases; and
add a recovery gain, decided based on the difference between the theoretical vehicle slip angle and the actual vehicle slip angle, to a most recent value of the adjustment gain to increase the adjustment gain,
wherein the recovery gain is added in every iteration of a process to calculate the adjustment gain in a control cycle; and
a power steering actuator configured to control the vehicle based on the vehicle additional yaw moment.
2. The apparatus according to claim 1 ,
wherein the controller is further configured to calculate a vehicle slip angle rate based on division of the difference between the theoretical vehicle slip angle and the actual vehicle slip angle by the actual vehicle slip angle, and
wherein the recovery gain is decided based on the vehicle slip angle rate.
3. The apparatus according to claim 1 ,
wherein the slipping condition is determined based on a difference between rotation rates of left and right wheels of the vehicle.
4. The apparatus according to claim 3 ,
wherein the slipping condition is determined based on a difference between a theoretical difference between the rotation rates of the left and right wheels calculated from the vehicle model and an actual difference between the rotation rates of the left and right wheels measured from sensors.
5. The apparatus according to claim 4 ,
wherein the slipping condition is determined based on a difference between a target yaw rate of the vehicle and a feedback yaw rate for the target yaw rate in addition to the difference between the rotation rates of the left and right wheels.
6. The apparatus to claim 3 ,
wherein the slipping condition is determined based on a difference between a target yaw rate of the vehicle and a feedback yaw rate for the target yaw rate in addition to the difference between the rotation rates of the left and right wheels.
7. The apparatus according to claim 1 , further comprising:
a yaw rate sensor configured to measure an actual yaw rate of the vehicle,
wherein the controller is further configured to:
calculate a target yaw rate based on a steering wheel angle and a vehicle speed;
calculate a yaw rate model value from the vehicle model;
calculate a feedback yaw rate from the yaw rate model value and the actual yaw rate with distributions of the yaw rate model value and the actual yaw rate based on a difference between the yaw rate model value and the actual yaw rate; and
calculate the vehicle additional yaw moment based on a difference between the target yaw rate and the feedback yaw rate.
8. The apparatus according to claim 1 ,
wherein the controller is further configured to calculate required motor torques to individually control motors that drive respective left and right rear wheels of the vehicle based on the vehicle additional yaw moment.
9. A method, comprising:
calculating, based on a yaw rate of a vehicle, a vehicle additional yaw moment to be applied to the vehicle independently of a steering system;
calculating a theoretical vehicle slip angle based on a vehicle model;
calculating an actual vehicle slip angle of the vehicle based on a sensor value;
determining a slipping condition of the vehicle;
calculating an adjustment gain to adjust the vehicle additional yaw moment so as to reduce the vehicle additional yaw moment when the vehicle is determined to be in the slipping condition;
increasing the adjustment gain in accordance with a degree of a slip of the vehicle when the vehicle is determined to recover from the slipping condition,
wherein the adjustment gain is increased based on a difference between the theoretical vehicle slip angle and the actual vehicle slip angle, and
wherein a rate of the increase in the adjustment gain decreases as the difference between the theoretical vehicle slip angle and the actual vehicle slip angle increases; and
adding a recovery gain, decided based on the difference between the theoretical vehicle slip angle and the actual vehicle slip angle, to a most recent value of the adjustment gain to increase the adjustment gain,
wherein the recovery gain is added in every iteration of a process to calculate the adjustment gain in a control cycle; and
controlling the vehicle based on the vehicle additional yaw moment.
10. An apparatus, comprising:
circuitry configured to:
calculate, based on a yaw rate of a vehicle, a vehicle additional yaw moment to be applied to the vehicle independently of a steering system;
calculate a theoretical vehicle slip angle based on a vehicle model;
calculate an actual vehicle slip angle of the vehicle based on a sensor value;
determine a slipping condition of the vehicle;
calculate an adjustment gain to adjust the vehicle additional yaw moment so as to reduce the vehicle additional yaw moment when the vehicle is determined to be in the slipping condition;
increase the adjustment gain in accordance with a degree of a slip of the vehicle when the vehicle is determined to recover from the slipping condition,
wherein the adjustment gain is increased based on a difference between the theoretical vehicle slip angle and the actual vehicle slip angle, and
wherein a rate of the increase in the adjustment gain decreases as the difference between the theoretical vehicle slip angle and the actual vehicle slip angle increases; and
add a recovery gain, decided based on the difference between the theoretical vehicle slip angle and the actual vehicle slip angle, to a most recent value of the adjustment gain to increase the adjustment gain,
wherein the recovery gain is added in every iteration of a process to calculate the adjustment gain in a control cycle; and
a power steering actuator configured to control the vehicle based on the vehicle additional yaw moment.