TRAVELING CONTROL DEVICE
A traveling control device includes: a sensor information acquisition unit configured to acquire an output value of an in-vehicle sensor including a yaw rate sensor detecting an actual value of a yaw rate generated in the vehicle; a command value determination unit configured to determine a target value of the yaw rate to be generated in the vehicle based on the output value and determine a command value to be given to an actuator controlling a behavior of the vehicle such that a difference between the actual value and the target value is reduced; a characteristic parameter acquisition unit configured to acquire a characteristic parameter indicating a characteristic of a drivers driving operation based on the difference; and an adjustment output unit configured to adjust the command value according to the characteristic parameter and output the adjusted command value to the actuator.
1 . A traveling control device comprising:
a sensor information acquisition unit configured to acquire an output value of an in-vehicle sensor that detects information regarding a vehicle and includes at least a yaw rate sensor that detects an actual value of a yaw rate generated in the vehicle;
a command value determination unit configured to determine a target value of at least the yaw rate to be generated in the vehicle based on the output value of the in-vehicle sensor and determine a command value to be given to an actuator that controls a behavior of the vehicle such that a difference between the actual value and the target value of at least the yaw rate is reduced;
a characteristic parameter acquisition unit configured to acquire a characteristic parameter indicating a characteristic of a driver's driving operation of the vehicle based on the difference between the actual value and the target value of at least the yaw rate; and
an adjustment output unit configured to adjust the command value according to the characteristic parameter and output the adjusted command value to the actuator.
2 . The traveling control device according to claim 1 , wherein
the sensor information acquisition unit acquires an output value of the in-vehicle sensor including a steering sensor that detects an amount of a steering operation for changing a steering angle of the vehicle among the driver's driving operation in addition to at least the yaw rate sensor, and
the characteristic parameter acquisition unit acquires, as the characteristic parameter, a combination of three parameters τ L , τ h , and h that minimize a value of an evaluation function J represented by the following equation (2) based on a model represented by the following equation (1):
δ
(
s
)
=
-
h
1
+
τ
L
s
{
(
1
+
τ
h
s
)
ϒ
(
s
)
-
ϒ
OL
(
s
)
}
(
1
)
J
=
∫
o
T
[
δ
*
+
τ
L
d
δ
*
dt
+
h
(
γ
*
-
γ
OL
)
+
λ
d
γ
*
dt
]
2
dt
(
2
)
here, δ is an actual value of the amount of the driver's steering operation, γ is the actual value of the yaw rate, γ OL is the target value of the yaw rate, τ L is a dead time indicating a delay of a drivers response in the driving operation, τ h is a prediction time indicating how far ahead a driver is to perform the driving operation, h is a proportionality constant, λ is a product of the prediction time and the proportionality constant, and δ* and γ* are actual values of the amount of the steering operation and the actual value of the yaw rate as a function of time, respectively.
3 . The traveling control device according to claim 2 , wherein
the characteristic parameter acquisition unit is configured to acquire, as the characteristic parameter, the combination of the three parameters 96 L , τ h , and h that minimize the value of the evaluation function J in a section where the actual value of the yaw rate changes to approach the target value.
4 . The traveling control device according to claim 1 , wherein
the adjustment output unit adjusts the command value according to the characteristic parameter such that a driving amount of the actuator is reduced as the drivers driving operation is more skilled.