Braking/Driving Force Control Apparatus, Vehicle Control Apparatus, Vehicle Control Method, and Vehicle Control System
The present invention provides a braking/driving force control apparatus capable of performing stable braking/driving force control. A braking/driving force control apparatus acquires a target braking/driving force and a target slip ratio for guiding a vehicle to a target route. The target braking/driving force and the target slip ratio are determined by a vehicle control apparatus based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor. The braking/driving force control apparatus acquires a slip state braking/driving force for achieving the target slip ratio based on a magnitude relationship between a physical amount regarding a wheel speed that is input from a wheel speed sensor configured to detect the physical amount regarding the wheel speed of the vehicle, and information about the acquired target slip ratio, and outputs a braking/driving force control signal based on this slip state braking/driving force and the target braking/driving force to an actuator regarding braking/driving of the vehicle.
1 . A braking/driving force control apparatus,
wherein the braking/driving force control apparatus acquires a target braking/driving force and a target slip ratio for guiding a vehicle to a target route, the target braking/driving force and the target slip ratio being determined by a vehicle control apparatus based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor, and
wherein the braking/driving force control apparatus acquires a slip state braking/driving force for achieving the target slip ratio based on a magnitude relationship between a physical amount regarding a wheel speed that is input from a wheel speed sensor configured to detect the physical amount regarding the wheel speed of the vehicle, and information about the acquired target slip ratio, and outputs a braking/driving force control signal based on this slip state braking/driving force and the target braking/driving force to an actuator regarding braking/driving of the vehicle.
2 . The braking/driving force control apparatus according to claim 1 , wherein the braking/driving force control apparatus switches the braking/driving force control signal based on the target braking/driving force input from the vehicle control apparatus and the braking/driving force control signal based on the slip state braking/driving force and outputs one of them to the actuator, or outputs the braking/driving force control signal generated by adding the target braking/driving force and the slip state braking/driving force to the actuator.
3 . The braking/driving force control apparatus according to claim 2 , wherein the braking/driving force control apparatus corrects the slip state braking/driving force based on a slip ratio control permission threshold value received from the vehicle control apparatus.
4 . The braking/driving force control apparatus according to claim 2 , wherein the braking/driving force control apparatus selects the braking/driving force control signal based on the slip state braking/driving force based on a forcible slip ratio control flag received from the vehicle control apparatus, and outputs it to the actuator.
5 . The braking/driving force control apparatus according to claim 2 , wherein, when a deviation amount between a moment generated on the vehicle at the present moment and a target moment is equal to or larger than a predetermined threshold value, the braking/driving force control apparatus selects the braking/driving force control signal based on the slip state braking/driving force and outputs it to the actuator.
6 . The braking/driving force control apparatus according to claim 2 , wherein the braking/driving force control apparatus does not select the braking/driving force control signal based on the slip state braking/driving force based on a slip ratio control prohibition flag received from the vehicle control apparatus, and selects the braking/driving force control signal based on the target braking/driving force and outputs it to the actuator.
7 . A vehicle control apparatus for a vehicle control system,
wherein the vehicle control system includes
the vehicle control apparatus, and
a braking/driving force control apparatus configured to output a braking/driving force control signal acquired based on a signal output from the vehicle control apparatus and a physical amount regarding a wheel speed that is input from a wheel speed sensor configured to detect the physical amount regarding the wheel speed of a vehicle to an actuator regarding braking/driving of the vehicle,
wherein the vehicle control apparatus acquires a target braking/driving force and a target slip ratio for guiding the vehicle to a target route based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor, and outputs them to the braking/driving force control apparatus.
8 . A vehicle control method comprising:
acquiring a target braking/driving force and a target slip ratio by a vehicle control apparatus for guiding a vehicle to a target route based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor;
inputting the target braking/driving force and the target slip ratio from the vehicle control apparatus to a braking/driving force control apparatus; and
acquiring a slip state braking/driving force by the vehicle control apparatus for achieving the target slip ratio based on a magnitude relationship between a physical amount regarding a wheel speed that is detected by a wheel speed sensor configured to detect the physical amount regarding the wheel speed of the vehicle, and information about the target slip ratio, and output a braking/driving force control signal based on this slip state braking/driving force and the target braking/driving force to an actuator regarding braking/driving of the vehicle.
9 . A vehicle control system comprising:
a vehicle control apparatus configured to acquire a target braking/driving force and a target slip ratio for guiding a vehicle to a target route based on information regarding a running route of the vehicle that is input from an external world recognition sensor and a physical amount regarding a motion state of the vehicle that is input from a vehicle motion state detection sensor; and
a braking/driving force control apparatus configured to receive inputs of the target braking/driving force and the target slip ratio output from the vehicle control apparatus, acquire a slip state braking/driving force for achieving the target slip ratio based on a magnitude relationship between a physical amount regarding a wheel speed that is input from a wheel speed sensor configured to detect the physical amount regarding the wheel speed of the vehicle, and information about the input target slip ratio, and output a braking/driving force control signal based on this slip state braking/driving force and the target braking/driving force to an actuator regarding braking/driving of the vehicle.
10 . The vehicle control system according to claim 9 , wherein the braking/driving force control apparatus switches the braking/driving force control signal based on the target braking/driving force input from the vehicle control apparatus and the braking/driving force control signal based on the slip state braking/driving force and outputs one of them to the actuator, or outputs the braking/driving force control signal generated by adding the target braking/driving force and the slip state braking/driving force to the actuator.
11 . The vehicle control system according to claim 9 , wherein the braking/driving force control apparatus corrects the slip state braking/driving force based on a slip ratio control permission threshold value received from the vehicle control apparatus.
12 . The vehicle control system according to claim 9 , wherein the braking/driving force control apparatus selects the braking/driving force control signal based on the slip state braking/driving force based on a forcible slip ratio control flag received from the vehicle control apparatus, and outputs it to the actuator.
13 . The vehicle control system according to claim 9 , wherein, when a deviation amount between a moment generated on the vehicle at the present moment and a target moment is equal to or larger than a predetermined threshold value, the braking/driving force control apparatus selects the braking/driving force control signal based on the slip state braking/driving force and outputs it to the actuator.
14 . The vehicle control system according to claim 9 , wherein the braking/driving force control apparatus does not select the braking/driving force control signal based on the slip state braking/driving force based on a slip ratio control prohibition flag received from the vehicle control apparatus, and selects the braking/driving force control signal based on the target braking/driving force and outputs it to the actuator.