Lateral motion control apparatus for a vehicle
A lateral motion control apparatus for a vehicle includes a control stop determination unit that determines whether or not to stop the control for the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle, and a degeneration control amount determination unit that determines a degeneration control amount for the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control for the control target is to be stopped. When the control stop determination unit has determined that the control for the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.
1. A lateral motion control apparatus for a vehicle comprising;
a target value obtaining unit that obtains a target value for a lateral motion amount of a vehicle;
a control amount calculation unit that calculates a control amount for controlling a control target so as to change the lateral motion amount of the vehicle based on the target value of the lateral motion amount obtained by the target value obtaining unit;
a control target control unit that controls the control target based on the control amount;
a control stop determination unit that determines whether or not to stop the control of the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle; and
a degeneration control amount determination unit that determines a degeneration control amount for controlling the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control of the control target is to be stopped,
wherein, when the control stop determination unit has determined that the control of the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.
2. The lateral motion control apparatus for a vehicle according to claim 1 , wherein
the degeneration control amount determination unit comprises a degeneration rate setting unit that sets an amount representing the rate of change of the degeneration control amount per unit time such that the rate of change of the degeneration control amount per unit time changes in accordance with the steering operation amount inputted by the driver, and the degeneration control amount determination unit determines the degeneration control amount based on the amount representing the rate of change of the degeneration control amount per unit time set in the degeneration rate setting unit.
3. The lateral motion control apparatus for a vehicle according to claim 2 , wherein
the degeneration rate setting unit sets the amount representing the rate of change of the degeneration control amount per unit time such that the greater the rate of change of the steering operation amount per unit time inputted by the driver becomes, the greater the rate of change of the degeneration control amount per unit time becomes.
4. The lateral motion control apparatus for a vehicle according to claim 2 , wherein
the degeneration control amount determination unit comprises a margin-of-steering ratio calculation unit that calculates, based on the steering operation amount inputted by the driver and traveling conditions of the vehicle, a margin-of-steering ratio representing the magnitude of a temporal margin until the steering operation is left entirely to the driver after the time when the control stop determination unit determines to stop the control of the control target, and wherein
the degeneration rate setting unit sets the amount representing the rate of change of the degeneration control amount per unit time based on the margin-of-steering ratio calculated in the margin-of-steering ratio calculation unit.
5. The lateral motion control apparatus for a vehicle according to claim 4 , wherein
the degeneration rate setting unit sets the amount representing the rate of change of the degeneration control amount per unit time such that the greater the margin-of-steering ratio becomes, the less the rate of change of the degeneration control amount per unit time becomes.
6. The lateral motion control apparatus for a vehicle according to claim 5 , wherein
the margin-of-steering ratio calculation unit comprises any one or more of a steering operation amount score calculation unit that calculates a steering operation amount score that varies depending on the steering operation amount, a braking force score calculation unit that calculates a braking force score that varies depending on the magnitude of a braking force acting on the vehicle, and a vehicle speed score calculation unit that calculates a vehicle speed score that varies depending on the magnitude of a vehicle speed, and wherein
the degeneration rate setting unit calculates the margin-of-steering ratio based on any one or more of the steering operation amount score calculated in the steering operation amount score calculation unit, the braking force score calculated in the braking force score calculation unit, and the vehicle speed score calculated in the vehicle speed score calculation unit, as well as a preset reference value of the amount representing the rate of change of the degeneration control amount per unit time.
7. The lateral motion control apparatus for a vehicle according to claim 6 , wherein
the steering operation amount score represents the margin-of-steering ratio estimated from the magnitude of steering torque,
the braking force score represents the margin-of-steering ratio estimated from the magnitude of the braking force, and
the vehicle speed score represents the margin-of-steering ratio estimated from the magnitude of the vehicle speed.
8. The lateral motion control apparatus for a vehicle according to claim 1 , wherein
the degeneration control amount determination unit determines the degeneration control amount for controlling the control target to gradually reduce the control amount for the control target to zero.