Vehicle control system
A vehicle control system provided with a control device that includes a control lateral acceleration calculation unit that calculates a control lateral acceleration from a lateral acceleration obtained by using a planar two degrees of freedom model of a vehicle based on vehicle state information and disregarding a second order delay component determined from vehicle specifications, a steer drag differential value calculation unit that calculates a steer drag differential value, an additional deceleration calculation unit that calculates an additional deceleration to be applied to the vehicle according to the steer drag differential value, and an additional braking force calculation unit that calculates an additional braking force to be generated by the braking force generator according to the additional deceleration.
1. A vehicle control system, comprising:
a braking force generator that generates a braking force that acts on a vehicle;
a control device that controls the braking force generated by the braking force generator; and
a vehicle state information acquisition device that acquires vehicle state information including a vehicle speed, a steering angle of front wheels of the vehicle, and a steering angular velocity of the front wheels, the vehicle state information acquisition device including a velocity sensor that detects an angular velocity or a velocity corresponding to the steering angular velocity of the front wheels,
wherein the control device includes
a control lateral acceleration calculation unit that calculates a control lateral acceleration by calculating Equation (1) given below
G y =G 1·δ+ G 2·ω (1)
where Gy is the control lateral acceleration, G 1 is a front wheel steering angle gain, δ is the steering angle, G 2 is a front wheel steering angular velocity gain, and ω is the steering angular velocity,
a steer drag differential value calculation unit that calculates a steer drag differential value obtained by differentiating a steer drag which is given as a component of a lateral force of the front wheels directed rearward of the vehicle according to the control lateral acceleration and the vehicle state information,
an additional deceleration calculation unit that calculates an additional deceleration to be applied to the vehicle according to the steer drag differential value, and
an additional braking force calculation unit that calculates an additional braking force to be generated by the braking force generator according to the additional deceleration,
wherein the control lateral acceleration calculation unit is provided with a front wheel steering angle gain map defining a relationship between the vehicle speed and the front wheel steering angle gain and a front wheel steering angular velocity gain map defining a relationship between the vehicle speed and the front wheel steering angular velocity gain, sets a first correction value which changes corresponding to the vehicle speed extracted from the front wheel steering angle gain map as the front wheel steering angle gain, and sets a second correction value which changes corresponding to the vehicle speed extracted from the front wheel steering angle velocity gain map as the front wheel steering angular velocity gain, and
wherein the control device causes the braking force generator to generate the additional braking force calculated by the additional braking force calculation unit.
2. The vehicle control system according to claim 1 , wherein the control lateral acceleration calculation unit performs a low pass filter process on the control lateral acceleration.
3. The vehicle control system according to claim 1 , wherein the control device further comprises a dead band processing unit that performs a dead band process on the control lateral acceleration, the dead band processing unit outputting zero for the control lateral acceleration when an absolute value of the inputted control lateral acceleration is equal to or smaller than a prescribed threshold value, and a value which is smaller by the threshold value than the absolute value of the inputted control lateral acceleration for the control lateral acceleration when the absolute value of the inputted control lateral acceleration is larger than the prescribed threshold value.
4. The vehicle control system according to claim 3 , wherein the threshold value becomes larger with an increase in the vehicle speed.
5. The vehicle control system according to claim 1 , wherein the steer drag differential value calculation unit calculates the steer drag differential value by using the steering angular velocity as the vehicle state information.