Vehicle control device

B - Operations – Transporting – 60 – W

Patent

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Details

B60W 30/02 (2006.01) B60T 8/17 (2006.01) B60T 8/1755 (2006.01) B60W 10/00 (2006.01) B60W 10/04 (2006.01) B60W 10/18 (2006.01) B60W 10/20 (2006.01) B60W 10/22 (2006.01) B60W 50/06 (2006.01) B62D 6/00 (2006.01) B60G 17/015 (2006.01)

Patent

CA 2607002

A control means 10 for controlling operations of actuators 3A, 3B, and 3C of a vehicle 1 creates a time series of a future behavior of the vehicle 1 by using a vehicle model 41. At this time, a state amount of the vehicle model 41 is initialized on the basis of a state amount of the actual vehicle 1, and the future behavior is created starting from the initial state amount. The future behavior is created such that operation commands of the actuators in the vehicle model 41 at the current time coincide with or approximate to basic values based on an operation of a manipulating device 5, such as a steering wheel of the vehicle 1. It is evaluated whether evaluation objects, such as a vehicle motion, a road surface reaction force, and wheel sliding, in the created future behavior satisfy predetermined restrictive conditions. Based on the evaluation result, the operation commands of the actuators 3A, 3B, and 3C are successively decided. This permits an ideal travel of the vehicle to be achieved by properly predicting future behaviors of the vehicle.

La présente invention concerne un moyen de commande (10) destiné à commander les opérations d~actionneurs (3A, 3B, 3C) d~un véhicule (1), le moyen de commande créant une série chronologique de comportement futur du véhicule (1) en utilisant un modèle de véhicule (41). En l~occurrence, une quantité d~état du modèle de véhicule (41) est initialisée selon la quantité d~état du véhicule proprement dit (1) et le comportement futur est créé à partir de la quantité d~état initiale. Le comportement futur est créé en alignant l~instruction d~opération des actionneurs du modèle de véhicule (41) à l~instant présent sur une valeur de base en fonction de l~opération d~un opérateur (5) tel qu~un volant de direction du véhicule (1). Il est jugé si les objets d~évaluation tels que le mouvement du véhicule, la force de réaction de la surface de roulement et le patinage des roues, selon le comportement futur créé, satisfont ou non à des conditions prédéterminées. Selon les résultats de l~évaluation, les instructions d~opération des actionneurs (3A, 3B, 3C) sont successivement décidées. Il est ainsi possible de prédire correctement le comportement futur du véhicule et de permettre une conduite appropriée du véhicule.

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