Vehicle motion control device and vehicle motion control method
The present invention provides a vehicle motion control device capable of reducing vibration generated in a running vehicle and suppressing the occurrence of an unstable behavior of the vehicle. A vehicle motion control device that controls a motion of a vehicle includes an operation management unit that generates traveling status information of the vehicle, a traveling track generation unit that generates a traveling track of the vehicle based on the traveling status information, and a travel control unit that controls driving, braking, and steering of the vehicle based on the traveling track. The traveling track generation unit includes a course planning unit that generates a target course based on the traveling status information and a speed planning unit that plans a target speed by calculating a longitudinal acceleration and a lateral acceleration whose composite acceleration has one peak when the vehicle travels on each curve in the target course.
1. A vehicle motion control device that controls a motion of a vehicle, comprising:
a storage device storing at least one program; and
a controller including a processor (CPU) and which when executing the at least one program configures the controller to:
generate traveling status information of the vehicle;
generate a traveling track of the vehicle based on the traveling status information;
control driving, braking, and steering of the vehicle based on the traveling track including a target course and a target speed;
generate the target course based on the traveling status information;
plan the target speed by calculating a longitudinal acceleration and a lateral acceleration when the vehicle travels on each curve in the target course;
determine, based on the traveling status information, the target course and a vehicle behavior prediction value, whether or not there is one peak in a composite acceleration, which is a combination of the longitudinal acceleration and the lateral acceleration, when traveling on one curve and output a result of the determination; and
calculate, only when the result of the determination indicates that the composite acceleration does not have one peak within the one curve, an acceleration correction value such that the composite acceleration has one peak; and
set a magnitude of the longitudinal acceleration to a predetermined ratio to the lateral acceleration based on the acceleration correction value.
2. The vehicle motion control device according to claim 1 , wherein the controller is further configured to plan a longitudinal acceleration and a lateral acceleration whose composite jerk that is a temporal change in the composite acceleration has a minimum peak value.
3. The vehicle motion control device according to claim 1 , wherein the controller is further configured to correct an acceleration generated in the vehicle so as to be not more than an upper limit value of a vehicle behavior.
4. The vehicle motion control device according to claim 1 , wherein the composite acceleration is a magnitude of a resultant vector of the longitudinal acceleration and the lateral acceleration.
5. The vehicle motion control device according to claim 1 , wherein a peak of the composite acceleration is a maximum value of the composite acceleration generated when the vehicle travels on each curve.
6. The vehicle motion control device according to claim 1 , wherein the curve is a section sandwiched between inflection points on the target course.
7. The vehicle motion control device according to claim 1 , wherein the controller is further configured to plan a plurality of target speed candidates and selects a target speed according to a traveling mode from the plurality of target speed candidates.
8. The vehicle motion control device according to claim 7 , wherein the controller is further configured to select a target speed corresponding to a shortest moving time from the plurality of target speed candidates when the traveling mode is a shortest time mode.
9. The vehicle motion control device according to claim 7 , wherein the controller is further configured to select a target speed corresponding to a minimum energy consumption from the plurality of target speed candidates when the traveling mode is an economy mode.
10. A vehicle motion control method for controlling a motion of a vehicle by an electron control unit (ECU), comprising:
a first step of generating traveling status information of the vehicle;
a second step of generating a target course based on the traveling status information;
a third step of planning a target speed by calculating a longitudinal acceleration and a lateral acceleration when the vehicle travels on each curve in the target course; and
a fourth step of controlling driving, braking, and steering of the vehicle based on the target course and the target speed,
wherein the third step includes:
an acceleration determination step of determining, based on the traveling status information, the target course and a vehicle behavior prediction value, whether or not there is one peak in the composite acceleration, which is a combination of the longitudinal acceleration and the lateral acceleration, when traveling on one curve and output a result of the determination; and
an acceleration correction step of calculating, only when the result of the determination indicates that the composite acceleration does not have one peak within the one curve, an acceleration correction value such that the composite acceleration has one peak; and
an acceleration setting step of setting a magnitude of the longitudinal acceleration to a predetermined ratio to the lateral acceleration based on the acceleration correction value.