To suppress an influence generated as a behavior of a mobile object with a simple configuration according to an air force acting on the mobile object.SOLUTION: A differential pressure and a sum pressure pair of right and left pressure sensors are calculated (S100, S102), the sum pressure is considered as a dynamic pressure, an a moment and an air force at a time during running of a vehicle are derived, thereby estimating the air force acting on the vehicle (S104). When the air force controls movement of the vehicle (Yes at S106), vehicle movement control amount calculation processing for cancelling a behavior of the vehicle, which is changed according to the calculated air force, is executed (S110). Thus, the air force which changes the behavior of the vehicle, can be estimated on the basis of the differential pressure and the sum pressure of the pair of pressure sensors which are located at right and left different positions in the front of the vehicle, and behavior change of the vehicle can be suppressed with the dynamic pressure which changes every moment taken into consideration.SELECTED DRAWING: Figure 8

    【課題】簡単な構成で、移動体に作用する空気力に応じて移動体の挙動として生じる影響を抑制する。【解決手段】左右一対の圧力センサの差圧及び和圧を演算し(S100、S102)、和圧を動圧とみなして、車両が走行中の或る時刻におけるモーメント及び空気力を導出することで、車両に作用する空気力を推定し(S104)、車両の運動を制御する空気力の場合(S106で肯定)、演算された空気力に応じて変化する車両の挙動を相殺する車両の運動制御量演算処理を実行する(S110)。このように、車両前方左右の異なる位置に設置された一対の圧力センサによる差圧及び和圧に基づいて、車両の挙動を変化させる空気力を推定でき、時々刻々と変化する動圧を考慮して、車両の挙動変化を抑制することができる。【選択図】図8


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    Title :

    MOBILE OBJECT MOTION CONTROL DEVICE, MOBILE OBJECT MOTION CONTROL METHOD, AND MOBILE OBJECT MOTION CONTROL PROGRAM


    Additional title:

    移動体運動制御装置、移動体運動制御方法、及び移動体運動制御プログラム


    Contributors:

    Publication date :

    2019-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



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