PROBLEM TO BE SOLVED: To highly precisely correct a transfer function or sensor value when calculating a parameter using a vehicle motion model, and highly precisely obtain control precision or a vehicle state.SOLUTION: A relationship between an actual yaw rate and a steering angle estimation yaw rate is fitted to a linear function, and a stability factor A of a vehicle motion model is learned and corrected in a direction in which the slope of the linear function becomes 1. A response lag of a transfer function of the vehicle motion model is approximated to a first-order lag (time constant T), and the time constant T is learned and corrected in a direction in which a width of a hysteresis property of the steering angle estimation yaw rate in relation to the actual yaw rate becomes 0. Further, the relationship between the actual yaw rate and steering angle estimation yaw rate is fitted to the linear function, and a correction quantity of a steering angle is calculated in a direction in which an intercept of the linear function with respect to a coordinate axis becomes 0.SELECTED DRAWING: Figure 1
【課題】車両運動モデルを用いてパラメータを算出する際に伝達関数やセンサ値を精度良く補正し、制御精度や車両の状態を精度良く求める。【解決手段】車両運動モデルにおけるスタビリティファクタAを、実ヨーレートと操舵角推定ヨーレートとの関係を一次関数で近似し、該一次関数の傾きが1になる方向に学習補正する。また、車両運動モデルの伝達関数の応答遅れは、一次遅れ(時定数T)で近似し、実ヨーレートに対する操舵角推定ヨーレートのヒステリシス特性の幅が0となる方向に時定数Tを学習補正する。更に、実ヨーレートと操舵角推定ヨーレートとの関係を一次関数で近似し、該一次関数の座標軸に対する切片が0になる方向に操舵角の補正量を算出する。【選択図】図1
VEHICLE MOTION PARAMETER ESTIMATION SYSTEM
車両運動パラメータ推定装置
2016-07-07
Patent
Elektronische Ressource
Japanisch
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