Vehicle control device
A vehicle control device calculates an operation amount and a motion state amount for varying an operation amount necessary for a real vehicle's operation based on a dynamic vehicle model modeling the motion state of a vehicle running in accordance with running targets such as a target path and a speed pattern and determines whether the calculated operation amount and the motion state amount satisfy prescribed running requirements. The operation amount and the motion state amount determined to satisfy the running requirements are a feed-forward (FF) operation amount and a target state amount in a state feedback (FB) control, respectively.
1. A vehicle control device comprising:
an input amount calculating unit that calculates an input amount for varying an operation amount necessary for an operation of a real vehicle based on a dynamic vehicle model modeling a motion state of a vehicle running in accordance with running targets including a target path;
a judging unit that determines whether the input amount satisfies prescribed running requirements based on an evaluation function where the input amount is a variable, the prescribed running requirements indicating a following method of the real vehicle with respect to the running targets; and
an operation amount calculating unit that calculates the operation amount based on the input amount determined to satisfy the prescribed running requirements by the judging unit, wherein
the input amount includes a calculated feedforward or feedback control.
2. The vehicle control device according to claim 1 , wherein
the running targets are generated based on running plans of the real vehicle, and the prescribed running requirements are varied in accordance with the running plans.
3. The vehicle control device according to claim 1 , wherein
the prescribed running requirements are varied in accordance with running environment of the real vehicle.
4. The vehicle control device according to claim 1 , wherein
the operation amount calculating unit calculates a feed-forward operation amount as the operation amount, the feed-forward operation amount being included in the input amount determined to satisfy the prescribed running requirements by the judging unit.
5. The vehicle control device according to claim 1 , further comprising:
a detecting unit that detects an amount to be controlled of the real vehicle, wherein
the operation amount calculating unit calculates a feedback operation amount based on a deviation between the amount to be controlled detected by the detecting unit and a state amount that is included in the input amount determined to satisfy the prescribed running requirements by the judging unit and that indicates a motion state of the real vehicle.
6. The vehicle control device according to claim 1 , wherein
when there are plural variables in the evaluation function, each of the variables is weighted in accordance with the prescribed running requirements.
7. The vehicle control device according to claim 1 , wherein
in the evaluation function, at least a deviation between a position of the real vehicle and the target path is a variable.
8. The vehicle control device according to claim 1 , wherein
the judging unit determines whether the input amount satisfies the prescribed running requirements based on a comparison between a value of the evaluation function and a prescribed threshold value.
9. The vehicle control device according to claim 1 , wherein
the input amount calculating unit calculates the input amount by solving an optimal control problem where the dynamic vehicle model is discretized by a prescribed period interval.
10. The vehicle control device according to claim 9 , wherein
the dynamic vehicle model is discretized assuming that the input amount in the prescribed period interval is constant.
11. The vehicle control device according to claim 1 , wherein
the operation amount is a steering angle.
12. The vehicle control device according to claim 4 , further comprising:
a detecting unit that detects an amount to be controlled of the real vehicle, wherein
the operation amount calculating unit calculates a feedback operation amount based on a deviation between the amount to be controlled detected by the detecting unit and a state amount that is included in the input amount determined to satisfy the prescribed running requirements by the judging unit and that indicates a motion state of the real vehicle.