Vehicle control device, and vehicle
An embodiment of the present invention provides higher ride comfort to a driver in control of steering and suspension. An ECU ( 600 ) includes: a steering control section ( 610 ) which controls a magnitude of an assist torque or a reaction torque; and a suspension control section ( 650 ) which controls a damping force of a suspension. The steering control section ( 610 ) refers to a state of a vehicle which state is predicted by the suspension control section ( 650 ), and the suspension control section ( 650 ) refers to a steering torque.
1. A vehicle control device for controlling a vehicle, comprising:
a first control section configured to control a magnitude of an assist torque or reaction torque to be applied to a steering device for steering the vehicle, with reference to at least a steering torque applied to a steering member; and
a second control section configured to control a damping force of a suspension of the vehicle,
the first control section controlling the magnitude of the assist torque or reaction torque, additionally with reference to information which has been obtained or calculated by the second control section and is supplied from the second control section,
the second control section controlling the damping force of the suspension of the vehicle, with reference to the steering torque or information obtained or calculated by the first control section,
the second control section predicting a roll rate of the vehicle, and controlling the damping force of the suspension of the vehicle, with reference to at least the roll rate predicted, and
the information which has been obtained or calculated by the second control section being the roll rate predicted.
2. The vehicle control device as set forth in claim 1 , wherein:
the first control section and the second control section are provided in an integrated manner.
3. The vehicle control device as set forth in claim 2 , wherein:
the information obtained or calculated by the first control section is a steering torque signal supplied from the first control section.
4. The vehicle control device as set forth in claim 3 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.
5. The vehicle control device as set forth in claim 2 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.
6. The vehicle control device as set forth in claim 1 , wherein:
the roll rate predicted is a roll rate calculated with reference to at least an acceleration in a lateral direction of the vehicle.
7. The vehicle control device as set forth in claim 6 , wherein:
the information obtained or calculated by the first control section is a steering torque signal supplied from the first control section.
8. The vehicle control device as set forth in claim 7 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.
9. The vehicle control device as set forth in claim 6 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.
10. The vehicle control device as set forth in claim 1 , wherein:
the information obtained or calculated by the first control section is a steering torque signal supplied from the first control section.
11. The vehicle control device as set forth in claim 10 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.
12. The vehicle control device as set forth in claim 1 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.
13. A vehicle comprising:
a vehicle control device configured to control the vehicle;
a torque applying section configured to apply an assist torque or reaction torque to a steering member; and
a suspension,
the vehicle control device including:
a first control section configured to control a magnitude of the assist torque or reaction torque to be applied to the steering member, with reference to at least a steering torque applied to the steering member; and
a second control section configured to predict a roll rate of the vehicle and control a damping force of the suspension of the vehicle, with reference to at least the roll rate of the vehicle,
the first control section controlling the magnitude of the assist torque or reaction torque, additionally with reference to the roll rate of the vehicle, the roll rate of the vehicle being information supplied from the second control section and having been predicted by the second control section,
the second control section controlling the damping force of the suspension of the vehicle, additionally with reference to the steering torque,
the torque applying section applying the assist torque or reaction torque to the steering member, in accordance with a control signal supplied from the first control section, and
the suspension varying the damping force in accordance with another control signal supplied from the second control section.
14. The vehicle as set forth in claim 6 , wherein:
the first control section includes:
a control variable calculating section configured to calculate a control variable for controlling the magnitude of the assist torque or reaction torque, with reference to the steering torque; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to the roll rate predicted, a steering angle of the steering member, and a steering angle speed of the steering member; and
the control variable correcting section corrects the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member, in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a predetermined value, and (iii) the roll rate predicted or an absolute value thereof is less than a predetermined value.