To provide a vehicle motion control device which can improve the followability of an actual vehicle with respect to a traveling target, a vehicle motion control method and a vehicle motion control system.SOLUTION: In this motion control, when a difference between a physical amount related to a target vehicle posture based on a target trajectory, and a physical amount related to a linear model vehicle posture based on a linear model of a vehicle exceeds a threshold, a control command of an operation amount related to a brake and drive is acquired. When the difference is equal to the threshold or smaller than the threshold, a control command of an operation amount related to the brake and steering is acquired, and a posture of the vehicle in a yaw direction is controlled on the basis of the control commands.SELECTED DRAWING: Figure 4
【課題】走行目標に対する実車両の追従性を向上させることができる、車両運動制御装置、車両運動制御方法、及び車両運動制御システムを提供する。【解決手段】本発明に係る運動制御においては、目標軌跡に基づく目標車両姿勢に関する物理量と車両の線形モデルに基づく線形モデル車両姿勢に関する物理量との差が閾値を超えるときは、制動および駆動に関する操作量の制御指令を求め、前記差が前記閾値又は前記閾値より小さいときは、制動および操舵に関する操作量の制御指令を求め、制御指令に基づき車両のヨー方向の姿勢を制御する。【選択図】図4
VEHICLE MOTION CONTROL DEVICE, VEHICLE MOTION CONTROL METHOD AND VEHICLE MOTION CONTROL SYSTEM
車両運動制御装置、車両運動制御方法、及び車両運動制御システム
2020-09-10
Patent
Electronic Resource
Japanese
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 |
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