Vehicle control apparatus
A vehicle control apparatus configured to calculate a center of gravity six-component; calculate a tire three-component of each wheel for two or more wheels of a vehicle imposing a constraint on each wheel expressed as an inequality corresponding to upper and lower limits of the tire three-component; apply the constraint based on whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum-condition for obtaining an optimum-solution under the constraint, and calculating an optimum-solution of the tire three-component of each wheel by performing a tentative-optimum-solution-calculation one or more times until the predetermined optimum-condition is satisfied; and store an application-state of the constraint when the optimum-solution satisfying the predetermined optimum-condition is obtained, and calculate the optimum-solution of the tire three-component of each wheel by using a stored value of the application-state of the constraint, in the next calculation of the optimum-solution.
1. A vehicle control apparatus that performs vehicle control by a vehicle control actuator group based on a driver input or a vehicle motion control request, the vehicle control apparatus comprising:
a center of gravity six-component calculation unit configured to calculate a center of gravity six-component including a plane three-component and a three-component on spring as vehicle motion targets based on the driver input or the vehicle motion control request;
a tire three-component calculation unit configured to calculate a tire three-component of each wheel for two or more wheels of a vehicle from the center of gravity six-component by calculation of a quadratic programming method using an active-set method; and
a vehicle control unit configured to perform vehicle control by the vehicle control actuator group based on the tire three-component of each wheel, wherein
in the active-set method, a constraint expressed as an inequality corresponding to upper and lower limits of the tire three-component according to characteristics of the vehicle control actuator group or characteristics of each wheel is imposed on each wheel, and
the tire three-component calculation unit is configured to:
apply the constraint based on a determination result of determining whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum condition for obtaining an optimum solution under the constraint expressed by the inequality, and calculate an optimum solution of the tire three-component of each wheel by performing a tentative optimum solution calculation one or more times until the predetermined optimum condition is satisfied; and
store an application state of the constraint when the optimum solution satisfying the predetermined optimum condition is obtained, and calculate the optimum solution of the tire three-component of each wheel by using a stored value of the application state of the constraint, in next calculation of the optimum solution.
2. The vehicle control apparatus according to claim 1 , wherein the tire three-component calculation unit is configured to:
estimate whether or not the application state of the constraint changes in each wheel; and
initialize the stored application state of the constraint when it is estimated that the application state changes when the constraint that was valid is invalidated in any of the wheels.