WO2019130600A1

WO2019130600A1 - Vehicle control device and vehicle

Info

Publication number: WO2019130600A1
Application number: PCT/JP2018/000906
Authority: WO
Inventors: 研一色; 伸幸榎本; 詠之石丸; 杏一田上
Original assignee: 株式会社ショーワ
Priority date: 2017-12-26
Filing date: 2018-01-16
Publication date: 2019-07-04
Also published as: JP2018090248A

Abstract

The present invention provides greater ride comfort for a driver in terms of steering and suspension control. An ECU (600) comprises a steering control unit (610), a suspension control unit (650), and an integration control unit (625). The integration control unit (625), to each of the two control units, outputs information on one of the control units at an appropriate timing referenced by means of control by the other control unit.

Description

Vehicle control device and vehicle

The present invention relates to a vehicle control device that controls a vehicle, and a vehicle.

There is known a steering device which applies an assist torque or a reaction torque to a steering member. Further, in the steering apparatus, a technology for correcting the assist target current based on the difference between the target steering speed and the actual steering speed (Patent Document 1), and a steering wheel based on the direction of steering torque and the rotation direction of the assist motor. There is known a technique (Japanese Patent Application Laid-Open No. 2000-112118) and the like for determining the steering condition of the vehicle.

In addition, a suspension device capable of controlling a damping force is known. For example, Patent Documents 3 and 4 disclose suspension devices that control damping force in accordance with steering torque.

Japanese Patent Publication "2006-123827 (May 18, 2006)" Japanese Patent Publication "Japanese Unexamined Patent Publication No. 2013-212715 (October 17, 2013 published)" Japanese Patent Publication "Japanese Patent Application Laid-Open No. 2010-116073 (May 27, 2010)" Japanese Patent Publication "Japanese Patent Application Laid-Open No. 1-141113 (published on June 2, 1989)"

In steering and suspension control, it is preferable to provide a higher ride quality.

An object of the present invention is to provide a driver with a higher ride quality in steering and suspension control.

To this end, the present invention is a vehicle control apparatus for controlling a vehicle, which applies to a steering apparatus for steering the vehicle by at least referring to a steering torque applied to a steering member. A first control unit for controlling the magnitude of the assist torque or the reaction torque, a second control unit for controlling the damping force of the suspension of the vehicle, the first control unit, and the second control unit; And an integrated control unit for acquiring information to be acquired or calculated, wherein the integrated control unit is configured to acquire information acquired from the first control unit and the second control unit as the first control unit and the second control unit. The first control unit controls the magnitude of the assist torque or the reaction torque by further referring to the information output from the integrated control unit and obtained or calculated by the second control unit. And the second The control unit controls the damping force of the suspension of the vehicle with reference to the steering torque or the information output from the integrated control unit and obtained or calculated by the first control unit, and the second control unit The roll rate of the vehicle is estimated, the damping force of the suspension of the vehicle is controlled with at least reference to the estimated roll rate, and the information acquired or calculated by the second control unit is the estimated It is a roll rate.

Further, for the above purpose, the present invention is a vehicle provided with a vehicle control device for controlling a vehicle, a torque applying unit for applying an assist torque or a reaction torque to a steering member, and a suspension. The first control unit controls the magnitude of an assist torque or a reaction torque applied to the steering member at least with reference to a steering torque applied to the steering member, The integrated control unit includes a second control unit that controls a damping force of a vehicle suspension, and an integrated control unit that acquires information acquired or calculated by the first control unit and the second control unit. Outputting information acquired from the first control unit and the second control unit to the first control unit and the second control unit, the first control unit outputting the information from the integrated control unit And the second The magnitude of the assist torque or the reaction torque is controlled with further reference to the information acquired or calculated by the control unit, and the second control unit is configured to output the steering torque or the integrated control unit and The damping force of the suspension of the vehicle is controlled with reference to the information acquired or calculated by the control unit 1, and the second control unit estimates the roll rate of the vehicle and refers at least to the estimated roll rate. And the information acquired or calculated by the second control unit is the estimated roll rate, and the torque applying unit is supplied from the first control unit. Applying an assist torque or a reaction torque to the steering member in accordance with the control signal to be controlled, and the suspension decreases the reduction in response to the control signal supplied from the second control unit. Changing the force.

According to the present invention, a higher ride quality can be provided to the driver in steering and suspension control.

It is a figure showing a schematic structure of a vehicle concerning an embodiment of the present invention. It is a schematic sectional drawing which shows the example of a schematic structure of the hydraulic shock absorber in the suspension apparatus which concerns on embodiment of this invention. It is a block diagram showing a schematic structure of ECU concerning an embodiment of the present invention. It is a block diagram showing an example of composition of a steering control part concerning an embodiment of the present invention. It is a block diagram showing an example of composition of a suspension control part concerning an embodiment of the present invention. It is a block diagram which shows the structural example of the pitch and roll rate calculation part at the time of the acceleration / deceleration and steering which concerns on embodiment of this invention. It is a block diagram showing an example of composition of a roll posture control part concerning an embodiment of the present invention. It is a block diagram showing an example of composition of a road surface judgment part concerning an embodiment of the present invention. It is a flow chart which shows a processing flow of steering suspension cooperation control concerning an embodiment of the present invention.

Embodiment 1
Hereinafter, Embodiment 1 of the present invention will be described in detail.

(Configuration of vehicle 900)
FIG. 1 is a view showing a schematic configuration of a vehicle 900 according to the present embodiment. As shown in FIG. 1, a vehicle 900 includes a suspension system (suspension) 100, a vehicle body 200, wheels 300, tires 310, a steering member 410, a steering shaft 420, a torque sensor 430, a steering angle sensor 440, a torque applying unit 460, and a rack. A pinion mechanism 470, a rack shaft 480, an engine 500, an electronic control unit (ECU) (vehicle control device) 600, a power generation device 700, and a battery 800 are provided. Here, the suspension device 100 and the ECU 600 constitute a suspension device according to the present embodiment. Vehicle 900 does not have to include all of the above-described configurations, and may include a portion of the above-described configurations. Also, each configuration described herein can be replaced with a known one.

The wheel 300 on which the tire 310 is mounted is suspended on the vehicle body 200 by a suspension system 100. Since the vehicle 900 is a four-wheeled vehicle, four suspension devices 100, four wheels 300 and four tires 310 are provided.

The tires and wheels of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are respectively the tire 310A and the wheel 300A, the tire 310B and the wheel 300B, the tire 310C and the wheel 300C, the tire 310D and the wheel It is also called 300D. Hereinafter, in the same manner, the configurations attached to the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel will be represented by reference symbols “A”, “B”, “C” and “D”. There is.

The suspension system 100 includes a hydraulic shock absorber, an upper arm and a lower arm. The hydraulic shock absorber also includes a solenoid valve that is a solenoid valve that adjusts the damping force generated by the hydraulic shock absorber. However, this does not limit the present embodiment, and the hydraulic shock absorber may use a solenoid valve other than the solenoid valve as the solenoid valve for adjusting the damping force. For example, as the solenoid valve, a solenoid valve using an electromagnetic fluid (magnetic fluid) may be provided.

A power generation device 700 is attached to the engine 500, and the power generated by the power generation device 700 is accumulated in the battery 800.

A steering member 410 operated by the driver is connected to one end of a steering shaft 420 so as to transmit torque, and the other end of the steering shaft 420 is connected to a rack and pinion mechanism 470.

The rack and pinion mechanism 470 is a mechanism for converting the rotation around the axis of the steering shaft 420 into displacement along the axial direction of the rack axis 480. When the rack shaft 480 is axially displaced, the

wheels

300A and 300B are steered via the tie rods and knuckle arms.

The torque sensor 430 detects the steering torque applied to the steering shaft 420, in other words, the steering torque applied to the steering member 410, and provides the ECU 600 with a torque sensor signal indicating the detection result. More specifically, torque sensor 430 detects the torsion of a torsion bar provided in steering shaft 420, and outputs the detection result as a torque sensor signal. As the torque sensor 430, a known sensor such as a Hall IC, an MR element, or a magnetostrictive torque sensor may be used.

The steering angle sensor 440 detects the steering angle of the steering member 410, and provides the detection result to the ECU 600.

The torque application unit 460 applies an assist torque or a reaction torque according to the steering control amount supplied from the ECU 600 to the steering shaft 420. The torque application unit 460 includes a motor that generates an assist torque or a reaction torque according to a steering control amount, and a torque transmission mechanism that transmits the torque generated by the motor to the steering shaft 420.

In addition, a current value, a duty ratio, an attenuation factor, an attenuation ratio etc. are mentioned as a specific example of the "control amount" in this specification.

The steering member 410, the steering shaft 420, the torque sensor 430, the steering angle sensor 440, the torque applying unit 460, the rack and pinion mechanism 470, the rack shaft 480, and the ECU 600 constitute a steering device according to the present embodiment.

In the above description, “to connect in a torque transmittable manner” refers to being connected so that the rotation of one member causes the rotation of the other member, and, for example, one member and the other member Is integrally formed, the other member is fixed directly or indirectly to one member, and one member and the other member are interlocked via a joint member or the like At least including the case where it is connected.

Further, in the above example, the steering device in which the steering member 410 to the rack shaft 480 are always mechanically connected has been described as an example, but this does not limit the present embodiment, and the steering according to the present embodiment The device may be, for example, a steer-by-wire steering device. The matters described below in the present specification can also be applied to a steer-by-wire steering apparatus.

The ECU 600 centrally controls various electronic devices provided in the vehicle 900. More specifically, the ECU 600 controls the magnitude of the assist torque or the reaction torque to be applied to the steering shaft 420 by adjusting the steering control amount supplied to the torque application unit 460.

Further, the ECU 600 controls the opening and closing of the solenoid valve by supplying a suspension control amount to the solenoid valve included in the hydraulic shock absorber included in the suspension device 100. In order to enable this control, a power line for supplying drive power from the ECU 600 to the solenoid valve is provided.

Further, the vehicle 900 is provided with a wheel speed sensor 320 provided for each wheel 300 to detect the wheel speed of each wheel 300, a lateral G sensor 330 for detecting a lateral acceleration of the vehicle 900, and a longitudinal acceleration of the vehicle 900 Front-rear G sensor 340, a yaw rate sensor 350 for detecting the yaw rate of the vehicle 900, an engine torque sensor 510 for detecting the torque generated by the engine 500, an engine speed sensor 520 for detecting the number of rotations of the engine 500, and a brake device A brake pressure sensor 530 is provided to detect the pressure applied to the brake fluid. The detection results of these various sensors are supplied to the ECU 600.

Although not shown, the vehicle 900 is an ABS (Antilock Brake System) that is a system for preventing wheel lock at the time of braking, TCS (Traction Control System) that suppresses idling of the wheel at the time of acceleration, etc. A vehicle behavior stabilization control system having an automatic brake function for yaw moment control at the time of turning, a brake assist function and the like is provided with a brake device capable of controlling ESC (Electronic Stability Control).

Here, ABS, TCS, and ESC compare the wheel speed determined according to the estimated vehicle speed with the wheel speed detected by the wheel speed sensor 320, and the value of these two wheel speeds is a predetermined value. If there is a difference, it is determined that the vehicle is in the slip state. The ABS, TCS, and ESC achieve stabilization of the behavior of the vehicle 900 by performing optimal brake control and traction control according to the traveling state of the vehicle 900 through such processing.

Further, the supply of the detection results by the various sensors described above to the ECU 600 and the transmission of the control signal from the ECU 600 to each unit are performed via a CAN (Controller Area Network) 370.

(Suspension device 100)
FIG. 2 is a schematic cross-sectional view showing an example of a schematic configuration of a hydraulic shock absorber in the suspension apparatus 100 according to the present embodiment. As shown in FIG. 2, the suspension system 100 includes a cylinder 101, a piston 102 slidably provided in the cylinder 101, and a piston rod 103 fixed to the piston 102. The cylinder 101 is divided into an upper chamber 101a and a lower chamber 101b by a piston 102, and the upper chamber 101a and the lower chamber 101b are filled with hydraulic oil.

Further, as shown in FIG. 2, the suspension device 100 includes a communication passage 104 that causes the upper chamber 101 a and the lower chamber 101 b to communicate, and on the communication passage 104, the damping force of the suspension device 100 is adjusted. A solenoid valve 105 is provided.

The solenoid valve 105 includes a solenoid 105 a and a valve 105 b which is driven by the solenoid 105 a and changes the flow passage cross-sectional area of the communication passage 104.

The solenoid 105a takes in and out the valve 105b in accordance with the amount of suspension control supplied from the ECU 600, whereby the flow passage cross-sectional area of the communication passage 104 is changed, and the damping force of the suspension device 100 is changed.

(ECU 600)
Hereinafter, the ECU 600 will be specifically described with reference to the drawings. FIG. 3 is a diagram showing a schematic configuration of the ECU 600. As shown in FIG.

As shown in FIG. 3, the ECU 600 includes a steering control unit (first control unit) 610, a suspension control unit (second control unit) 650, and an integrated control unit 625.

The steering control unit 610 refers to various sensor detection results included in the CAN 370 to determine the magnitude of the steering control amount supplied to the torque applying unit 460.

In the present specification, the expression “with reference to” may include meanings such as “with using”, “in consideration of”, “depending on” and the like.

The suspension control unit 650 estimates the roll rate of the vehicle 900 and controls the damping force of the suspension of the vehicle 900. For example, the suspension control unit 650 estimates the roll rate of the vehicle 900 with reference to various sensor detection results included in the CAN 370. Further, the suspension control unit 650 determines the magnitude of the amount of suspension control supplied to the solenoid valve provided in the hydraulic shock absorber included in the suspension apparatus 100 at least with reference to the estimated roll rate. Thus, the damping force of the suspension of the vehicle 900 is controlled.

The integrated control unit 625 outputs an instruction signal to each control unit of the in-vehicle component. For example, the integrated control unit 625 acquires information acquired or calculated by the steering control unit 610, and acquires information acquired or calculated by the suspension control unit 650. Then, the integrated control unit 625 outputs the information acquired from the steering control unit 610 and the suspension control unit 650 to the steering control unit 610 and the suspension control unit 650. Hereinafter, the information output from the integrated control unit 625 to the steering control unit 610 is also referred to as “assist correction information”, and the information output from the integrated control unit 625 to the suspension control unit 650 is also referred to as “damping force correction information” below. . The control by the integrated control unit 625 and the above information output therefrom will be described later.

As shown in FIG. 3, in the ECU 600, vehicle state information (for example, a roll rate value) acquired or calculated by the suspension control unit 650 is supplied to the steering control unit 610 via the integrated control unit 625 as assist correction information. Reference is made to determine the magnitude of the steering control amount. Further, steering information (for example, a steering torque signal) acquired or calculated by the steering control unit 610 is supplied to the suspension control unit 650 via the integrated control unit 625 as damping force correction information, and the damping force of the suspension is determined. Referenced to. Thus, the steering control unit 610 controls the magnitude of the assist torque or the reaction torque by further referring to the information output from the integrated control unit 625 and obtained or calculated by the suspension control unit 650. The suspension control unit 650 also controls the damping force of the suspension of the vehicle 900 with reference to the steering torque or the information output from the integrated control unit 625 and acquired or calculated by the steering control unit 610. These controls will also be described later.

The steering information includes steering torque, steering angle, rack displacement, rack thrust and the like, and the vehicle state information includes various information such as roll, pitch and yaw, and the vehicle state estimated from these information, etc. Can be mentioned.

In the present embodiment, a steering torque signal is used as steering information, and a roll rate value is used as vehicle state information. That is, in the present embodiment, the information acquired or calculated by the suspension control unit 650 is the estimated roll rate described above.

As will be described later, the roll rate value is configured to take “0” as a reference value when the inclination of the vehicle 900 does not change for a predetermined minute time, and represents the roll rate as a deviation from the reference value. It may be

Further, the process of “determining the magnitude of the control amount” also includes the case where the magnitude of the control amount is set to zero, that is, the control amount is not supplied.

Note that the ECU 600 may be configured to integrally include the steering control unit 610, the suspension control unit 650, and the integrated control unit 625, or may be configured to include some or all of them as separate ECUs. More specifically, in the latter case, the ECU 600 may be configured to integrally include the steering control unit 610 and the suspension control unit 650. In addition, the steering control unit 610 and the integrated control unit 625 may be integrated. Furthermore, the suspension control unit 650 and the integrated control unit 625 may be integrated. In the latter case, the control described in the present specification is realized as the separate ECUs of the steering control unit 610, the suspension control unit 650, and the integrated control unit 625 communicate with each other using communication means.

(Steering control unit)
Subsequently, the steering control unit 610 will be more specifically described with reference to FIG. FIG. 4 is a block diagram showing a configuration example of the steering control unit 610. As shown in FIG.

As shown in FIG. 4, the steering control unit 610 includes a signal processing unit 609, a control amount calculation unit 611, a control amount correction unit 612, a ω feedback unit 620, a gain calculation unit 630, and a multiplication unit 640.

The signal processing unit 609 performs signal processing on a steering torque signal indicating the steering torque. The signal processing may include phase compensation processing for the steering torque signal. This can be expected to realize a more comfortable ride.

The control amount calculation unit 611 refers to the steering torque supplied from the signal processing unit 609 to calculate a control amount for controlling the magnitude of the assist torque or the reaction torque. The control amount calculated by the control amount calculation unit 611 is corrected by the control amount correction unit 612 and then supplied to the torque application unit 460 as a steering control amount.

(Ω feedback unit)
The ω feedback unit 620 refers to the steering angle supplied from the steering angle sensor 440, the vehicle speed determined according to the wheel speed detected by the wheel speed sensor 320, and the steering torque supplied from the torque sensor 430, and performs correction control. Determine the value of the quantity.

The ω feedback unit 620 includes, as an example, a target steering angle speed calculation unit 621, an actual steering angle speed calculation unit 622, a subtraction unit 623, and a correction control amount determination unit 624, as shown in FIG.

The target steering angle speed calculation unit 621 refers to the steering angle supplied from the steering angle sensor 440, the vehicle speed determined according to the wheel speed detected by the wheel speed sensor 320, and the steering torque supplied from the signal processing unit 609. And calculate the target steering angle speed. Here, although the specific calculation method of the target steering angle speed does not limit the present embodiment, in calculating the target steering angle speed, the target steering angle speed calculation unit 621 is a target steering angle speed map, And the torque ratio map may be referred to.

The actual steering angle speed calculation unit 622 specifies the actual steering angle speed by calculating the time change of the steering angle supplied from the steering angle sensor 440.

Subtraction unit 623 subtracts the actual steering angular velocity calculated by actual steering angular velocity calculation unit 622 from the target steering angular velocity calculated by target steering angular velocity calculation unit 621, and subtracts the steering angle velocity deviation that is the result of subtraction. Are supplied to the correction control amount determination unit 624.

The correction control amount determination unit 624 determines the value of the correction control amount according to the steering angle speed deviation. Although a specific determination method of the value of the correction control amount does not limit the present embodiment, in determining the value of the correction control amount, the correction control amount determination unit 624 sets the steering angle speed deviation correction control amount map. It can be a configuration to be referred to.

(Gain calculation unit)
The gain calculation unit 630 supplies the gain coefficient to be multiplied by the correction control amount calculated by the ω feedback unit 620 from the steering angle supplied from the steering angle sensor 440 and the suspension control unit 650 via the integrated control unit 625. Calculate with reference to the roll rate value.

For example, as shown in FIG. 4, the gain calculation unit 630 is a return determination unit 631, a steering speed determination unit 632, a roll rate determination unit 633, a logical product calculation unit 634, a moving average unit 635, and a gain determination unit. It has 636.

The switchback determination unit 631 refers to the steering angle supplied from the steering angle sensor 440 and the steering angle speed calculated with reference to the steering angle to determine whether the steering member 410 is in the switchback state. Make a decision on When the steering member 410 is in the switchback state, the switchback determination unit 631 outputs “1” as the determination result, and otherwise outputs “0” as the determination result. The vehicle 900 is provided with a steering angle speed sensor, and the turning back determination unit 631 refers to the steering angle supplied from the steering angle sensor 440 and the steering angle speed supplied from the steering angle speed sensor, and the steering member It may be configured to determine whether 410 is in the switchback state.

The determination processing of the switchback state by the switchback judging unit 631 is not limited to the above example. The cutback determination unit 631 determines whether or not to be in the cutback state by referring to the torque sensor signal indicating the detection result of the torque sensor 430 and the rotation direction of the motor included in the torque application unit 460. Good. In this configuration, for example, when the sign of the torque sensor signal is different from the sign of the rotation direction of the motor, it may be determined that the switchback state is established.

Here, for the sign of the torque sensor signal, for example, the sign of the torque sensor signal in the state where the torsion bar is twisted in the right rotation direction is plus, and the torque in the state where the torsion bar is twisted in the left rotation direction The sign of the sensor signal may be negative. Further, the sign of the rotation direction of the motor is that when the torsion bar is twisted in the right rotation direction, the direction in which the torsion bar is untwisted is positive and the torsion bar is twisted in the left rotation direction. The direction to eliminate the twist of the may be negative.

The steering speed determination unit 632 determines whether the steering angle speed or the absolute value thereof calculated with reference to the steering angle supplied from the steering angle sensor 440 is equal to or higher than a predetermined value. The steering speed determination unit 632 outputs “1” as a determination result when the steering angle speed or the absolute value thereof is equal to or more than a predetermined value, and otherwise outputs “0” as a determination result.

The roll rate determination unit 633 determines whether the roll rate value supplied from the suspension control unit 650 via the integrated control unit 625 or the absolute value thereof is less than a predetermined value. The roll rate determination unit 633 outputs “1” as the determination result if the roll rate value or the absolute value thereof is less than a predetermined value, and outputs “0” as the determination result otherwise.

The logical product calculation unit 634 takes a logical product of the determination results from the return control unit 631, the steering speed determination unit 632, and the roll rate determination unit 633, and outputs the result. In other words, the logical product calculating unit 634 outputs “1” when all the determination results output by the switchback determination unit 631, the steering speed determination unit 632, and the roll rate determination unit 633 are “1”. Output, otherwise "0" is output.

The moving average unit 635 calculates a moving average of the output of the logical product calculating unit 634, and outputs the result. Note that a low pass filter may be used as the moving average unit 635.

The gain determination unit 636 determines a gain coefficient according to the output result of the moving average unit 635, and supplies the determined gain coefficient to the multiplication unit 640. More specifically, when the value after moving average by the moving average unit 635 is larger than 0, a gain coefficient larger than 1 is determined. Furthermore, the gain determination unit 636 sets the gain coefficient larger as the value after moving average by the moving average unit 635 is larger. In other words, the gain determination unit sets the gain coefficient such that the reaction force applied to the steering member 410 increases as the moving average unit 635 increases the value after moving average.

The multiplication unit 640 supplies the correction control amount after the gain to the control amount correction unit 612 by multiplying the correction control amount determined by the correction control amount determination unit 624 by the gain coefficient determined by the gain determination unit 636.

The control amount correction unit 612 generates a steering control amount by adding the post-gain correction control amount supplied from the multiplication unit 640 to the control amount calculated by the control amount calculation unit 611. In other words, the control amount correction unit 612 refers to the control amount calculated by the control amount calculation unit 611 as the roll rate of the vehicle body 200, the steering angle of the steering member 410, and the steering angle speed of the steering member 410. to correct.

As described above, the control amount correction unit 612 corrects the control amount calculated by the control amount calculation unit 611 with reference to the roll rate of the vehicle body 200, thereby reducing assist torque or reaction force torque with little discomfort for the driver. It can be applied to the steering member 410. Further, since the above-mentioned correction is performed with further reference to the steering angle of the steering member 410 and the steering angle speed of the steering member 410, an assist torque or reaction torque with less discomfort for the driver can be applied to the steering member 410. Can be applied.

Further, in the above configuration, in the control amount correction unit 612, the steering member 410 is in the turning back state, the steering angle speed of the steering member 410 or the absolute value thereof is equal to or more than a predetermined value. The control amount is corrected when the supplied roll rate value or the absolute value thereof is less than a predetermined value.

When the steering member is in the return state, the steering angle speed of the steering member or its absolute value is equal to or more than a predetermined value, and the roll rate value or its absolute value is less than a predetermined value, It has been recognized by the inventor that the phenomenon "is likely to occur."

Here, the specific process of causing the “torque loss” will be described as follows. First, when the driver steers, a roll is generated on the vehicle 900. When a roll occurs, the hydraulic shock absorber provided in the suspension system 100 contracts. Then, the positional relationship between the tie rod and the lower arm changes, and as a result, the toe angle changes. Thereby, the rack shaft 480 is pulled toward the contracted hydraulic shock absorber side. In the configuration without the gain calculation unit 630, if the driver switches back the steering member 410 in this state, only a reaction torque smaller than expected by the driver is generated, and the phenomenon of "torque omission" It can occur.

According to the above configuration including the gain calculation unit 630, the phenomenon of “torque loss” can be suitably suppressed, so that the assist torque or the reaction torque can be applied with less discomfort for the driver.

Further, in the above configuration, in the control amount correction unit 612, the steering member 410 is in the turning back state, the steering angle speed of the steering member 410 or the absolute value thereof is equal to or more than a predetermined value. When the roll rate value supplied via the integrated control unit 625 or the absolute value thereof is less than a predetermined value, the control amount is controlled so that the reaction force applied to the steering member 410 is larger than when it is not. Correct the

Therefore, according to the above configuration, the phenomenon of “torque dropout” can be suppressed more appropriately, so that the assist torque or reaction torque with less discomfort can be applied to the driver.

(Suspension control unit)
Subsequently, the suspension control unit will be described with reference to FIG. FIG. 5 is a block diagram showing a configuration example of the suspension control unit 650. As shown in FIG.

As shown in FIG. 5, the suspension control unit 650 includes a CAN input unit 660, a vehicle state estimation unit 670, a steering stability and riding comfort control unit 680, and a control amount selection unit 690.

The CAN input unit 660 acquires various signals via the CAN 370. As shown in FIG. 5, the CAN input unit 660 obtains the following signals (brackets indicate the obtaining source).

・ Wheel speed of four wheels (wheel speed sensors 320A to D)
・ Yaw rate (yaw rate sensor 350)
・ Front-back G (front-back G sensor 340)
-Horizontal G (horizontal G sensor 330)
· Brake pressure (brake pressure sensor 530)
・ Engine torque (engine torque sensor 510)
· Engine speed (engine speed sensor 520)
· Steering angle (steering angle sensor 440)
· Steering torque (torque sensor 430)
The vehicle state estimation unit 670 estimates the state of the vehicle 900 with reference to various signals acquired by the CAN input unit 660. The vehicle state estimation unit 670 outputs sprung speeds of four wheels, stroke speeds of four wheels, pitch rate, roll rate, roll rate at turning, and pitch rate at acceleration / deceleration as estimation results.

As shown in FIG. 5, the vehicle state estimation unit 670 is an acceleration / deceleration / turning correction amount calculation unit 671, an acceleration / deceleration / turning pitch / roll rate calculation unit 673, and a state estimation single wheel model application unit 674. Is equipped.

The acceleration / deceleration / turning correction amount calculation unit 671 refers to the yaw rate, front / rear G, wheel speeds of four wheels, brake pressure, engine torque, and engine speed, and adjusts the vehicle longitudinal speed, inner / outer ring differential ratio, and adjustment. The gain is calculated, and the calculation result is supplied to the state estimation single wheel model application unit 674.

The acceleration / deceleration / turning pitch / roll rate calculator 673 calculates the turning roll rate and the acceleration / deceleration pitch rate with reference to the front and rear G and the lateral G. The calculation result is supplied to the state estimation single wheel model application unit 674. As described above, in the present embodiment, the suspension control unit 650 estimates the roll rate by calculating the roll rate with reference to at least the lateral acceleration (lateral G) of the vehicle 900.

The acceleration / deceleration / turning pitch / roll rate calculation unit 673 supplies the calculated turning roll rate to the integrated control unit 625 as a roll rate value. The acceleration / deceleration / turning pitch / roll rate calculating unit 673 may be configured to further refer to the suspension control amount output from the control amount selecting unit 690. The details of the acceleration / deceleration / turning pitch / roll rate calculation unit 673 will be described later, with reference to the drawings referred to.

As described above, the acceleration / deceleration / turning pitch / roll rate calculation unit 673 supplies the steering roll rate calculated with reference to the front and rear G and the lateral G to the integrated control unit 625 as a roll rate value, and the steering is performed. The control unit 610 corrects the control amount for controlling the magnitude of the assist torque or the reaction torque with reference to the roll rate value provided from the integrated control unit 625. Therefore, the steering control unit 610 can more preferably correct the magnitude of the assist torque or the reaction torque.

Further, as described above, if the acceleration / deceleration / turning pitch / roll rate calculating unit 673 further refers to the suspension control amount output from the control amount selecting unit 690, the steering control unit 610 is more preferably The magnitude of the assist torque or the reaction torque can be corrected.

The single-wheel model application unit for state estimation 674 applies the single-wheel model for state estimation to each wheel with reference to the calculation result by the acceleration / deceleration / turning correction amount calculation unit 671, and the sprung speed of four wheels, Calculate the stroke speed, pitch rate and roll rate of 4 wheels. The calculation result is supplied to the steering stability / ride control unit 680.

The steering stability / ride control unit 680 includes a skyhook control unit 681, a roll attitude control unit 682, a pitch attitude control unit 683, and an unsprung control unit 684.

The skyhook control unit 681 suppresses the fluctuation of the vehicle when it gets over the unevenness of the road surface, and performs ride comfort control (vibration control) that enhances the ride comfort. The skyhook control unit 681 determines the skyhook target control amount with reference to the sprung speed of four wheels, the stroke speed of four wheels, the pitch rate, and the roll rate as an example, and the result is used as a control amount selector Supply to 690.

As a more specific example, the skyhook control unit 681 sets the damping force base value by referring to the sprung-damping force map based on the sprung velocity. Further, the skyhook control unit 681 calculates a skyhook target damping force by multiplying the set damping force base value by the skyhook gain. Then, the skyhook target control amount is determined based on the skyhook target damping force and the stroke speed.

The roll attitude control unit 682 calculates each target control amount with reference to the roll rate at turning, the steering angle signal indicating the steering angle, the steering torque signal indicating the steering torque, and the wheel speed signal indicating the wheel speeds of the four wheels. Perform roll attitude control by doing this. The steering torque signal may include a steering torque signal output from the integrated control unit 625 as damping force correction information, in addition to the steering torque signal acquired by the CAN input unit 660 from the torque sensor 430. The roll posture control unit 682 may refer to only the steering torque signal from the CAN input unit 660 or may refer to only the steering torque signal as damping force correction information, or both of them. It is also good. The calculated target control amounts are supplied to the control amount selector 690. The specific configuration of the roll posture control unit 682 will be described later.

Further, FIG. 5 shows an example in which the roll attitude control unit 682 can obtain the steering torque signal from both of the CAN 370 and the integrated control unit 625, but as described later, the roll attitude control unit 682 performs steering control The steering torque signal may be acquired from the unit 610 via the integrated control unit 625. In the case of this configuration, it is not necessary for the roll attitude control unit 682 to obtain a steering torque signal via the CAN 370. Therefore, according to the configuration of the present embodiment, the transmission load of the CAN 370 can be reduced.

The roll attitude control unit 682 may also acquire the steering angle signal from the steering control unit 610 via the integrated control unit 625. Thereby, the transmission load of CAN 370 can be further reduced.

As described above, since the roll attitude control unit 682 performs roll attitude control with reference to the turning roll rate calculated by the acceleration / deceleration / turning pitch / roll rate calculating unit 673, it is preferable to perform suitable attitude control. Can. In addition, the turning roll rate calculated by the acceleration / deceleration / turning pitch / roll rate calculating unit 673 is not only the roll attitude control by the roll attitude control unit 682 but also the integrated control unit 625 as described above. It is provided to the steering control unit 610 and is also used to correct the magnitude of the assist torque or the reaction torque by the steering control unit 610. Therefore, it is possible to provide a suitable attitude control and a steering feeling without a sense of incongruity while suppressing an increase in components.

The pitch attitude control unit 683 performs pitch control with reference to the pitch rate during acceleration / deceleration, determines a pitch target control amount, and supplies the result to the control amount selection unit 690.

The unsprung control unit 684 performs damping control of the unsprung of the vehicle 900 with reference to the wheel speeds of the four wheels, and determines the unsprung damping control target control amount. The determination result is supplied to the control amount selection unit 690.

The control amount selection unit 690 includes a skyhook target control amount, a steering angle proportional target control amount, a steering angle proportional target control amount, a roll rate proportional target control amount, a pitch target control amount, and an unsprung mass damping control target control amount. Among them, the target control amount having the largest value is selected and output as a suspension control amount.

(Acceleration / deceleration, turning pitch and roll rate calculation unit)
Subsequently, the acceleration / deceleration / turning pitch / roll rate calculation unit 673 will be more specifically described, changing the drawings to be referred to.

FIG. 6 is a block diagram showing a configuration example of the acceleration / deceleration / turning pitch / roll rate calculation unit 673. As shown in FIG. 6, the acceleration / deceleration / turning pitch / roll rate calculation unit 673 includes

subtraction units

731, 732, a damping force calculation unit 733, a model application unit 740, and amplification units 751 to 754.

The model application unit 740 further includes

amplification units

741, 744, and 745, an addition unit 742, and a delay unit 743.

The subtraction unit 731 subtracts the output signal of the amplification unit 753 from the signal indicating the front and rear G, and outputs the result of the subtraction to the amplification unit 741.

The subtracting unit 732 subtracts the output signal of the amplification unit 754 from the signal indicating horizontal G, and outputs the result of the subtraction to the amplification unit 741.

The damping force calculation unit 733 calculates the damping force of each wheel with reference to the suspension control amount and the output of the amplification unit 751. Here, the output of the amplification unit 751 corresponds to an estimated value for the stroke speed (damper speed) of the hydraulic shock absorber provided in the suspension apparatus 100. Further, the calculation of the damping force of each wheel by the damping force calculating unit 733 is performed with reference to the damping force map.

The model application unit 740 applies the pitch behavior model to the back and forth G after subtraction output by the subtraction unit 731 and the damping force of each wheel output by the damping force calculation unit 733 so that the pitch rate at acceleration and deceleration is obtained. Calculate

The model application unit 740 applies the roll behavior model to the lateral G after subtraction output by the subtraction unit 732 and the damping force of each wheel output by the damping force calculation unit 733, thereby achieving a steering roll rate. Calculate

The calculation of the pitch rate during acceleration / deceleration and the roll rate during steering by the model application unit 740 is performed by adjusting the amplification factors of the

amplification units

741, 744, and 745 and the delay amount by the delay unit 743.

The amplification unit 741 amplifies the outputs of the subtraction unit 731, the subtraction unit 732, and the damping force calculation unit 733, and supplies the amplified output to the addition unit 742. The addition unit 742 adds the output of the delay unit 743 amplified by the amplification unit 745 to the output of the amplification unit 741, and supplies the result to the delay unit 743. The amplification unit 744 outputs the output of the delay unit 743 as a pitch rate at acceleration or a roll rate at steering.

The amplification unit 751 amplifies the output of the delay unit 743 and supplies the amplified output to the damping force calculation unit 733. The amplification unit 752 amplifies the output of the delay unit 743. The output of the amplification unit 752 is amplified by the amplification unit 753 or the amplification unit 754 and then input to the subtraction unit 731 or the subtraction unit 732, respectively.

The acceleration / deceleration / turning pitch / roll rate calculating unit 673 may output “0” as a reference value of the turning roll rate when the inclination of the vehicle 900 does not change for a predetermined minute time. . In addition, the acceleration / deceleration / turning pitch / roll rate calculating unit 673 may provide a dead zone of about ± 0.5 in the turning roll rate. Here, for example, the left side of the vehicle 900 is “+” and the right side is “−”.

(Roll attitude control unit 682)
The roll attitude control unit 682 calculates a suspension control amount for controlling the damping force of the suspension according to the determination result by the road surface determination unit.

Hereinafter, with reference to FIG. 7, a specific configuration of the roll posture control unit 682 will be described. FIG. 7 is a block diagram showing an example of the configuration of the roll attitude control unit 682. The roll posture control unit 682 calculates a steering-derived target control amount that is a candidate for a suspension control amount, with reference to the turning roll rate, the steering torque signal, the steering angle signal, and the wheel speed signal. Here, the steering-derived target control amount calculated by the roll posture control unit 682 becomes a suspension control amount when it is selected by the control amount selection unit 690. Therefore, the roll attitude control unit 682 can also be expressed as calculating the suspension control amount.

As shown in FIG. 7, the roll attitude control unit 682 includes a roll rate proportional target control amount calculation unit 80, a first target control amount calculation unit 81, a second target control amount calculation unit 82, a selection unit 83, and a road surface determination. A section (road surface determination device) 84 and a multiplication section 85 are provided.

The roll rate proportional target control amount calculation unit 80 calculates the roll rate proportional target control amount with reference to the turning time roll rate supplied from the acceleration / deceleration / turning time pitch / roll rate calculation portion 673.

The first target control amount calculator 81 calculates a first target control amount with reference to the steering torque signal. Specifically, the first target control amount calculation unit 81 refers to the steering torque signal, suppresses the roll of the vehicle 900, and calculates a first target control amount such that the posture of the vehicle 900 approaches flatter. Do. For example, when the steering member 410 is steered in a turning direction and the vehicle 900 travels along a curve heading in the turning direction, damping of the suspension outside the curve (that is, the side opposite to the steering direction) The first target control amount is calculated to increase the force. In other words, the first target control amount is calculated such that the suspension on the opposite side to the turning direction becomes hard. Furthermore, it is also possible to calculate a first target control amount that increases the damping force of the suspension inside the curve after increasing the damping force of the suspension outside the curve.

As shown in FIG. 7, the first target control amount calculation unit 81 includes a torque reference target control amount calculation unit 811, a torque speed reference target control amount calculation unit 812, and a first target control amount selection unit 813. ing.

The torque reference target control amount calculation unit 811 calculates a torque reference target control amount with reference to the torque indicated by the steering torque signal. The torque speed reference target control amount calculation unit 812 calculates a torque speed by referring to a time change of torque indicated by the steering torque signal, and calculates a torque speed reference control amount by referring to the calculated torque speed.

The first target control amount selection unit 813 sets a target control amount having a higher value among the torque reference target control amount and the torque speed reference target control amount to a target control amount derived from torque (a first target control amount Choose as).

The second target control amount calculation unit 82 calculates a second target control amount with reference to the steering angle signal. Specifically, the second target control amount calculation unit 82 refers to the steering angle signal, suppresses the roll of the vehicle 900, and calculates a second target control amount such that the posture of the vehicle 900 approaches flatter. Do. For example, when the steering member 410 is steered in a turning direction and the vehicle 900 travels along a curve heading in the turning direction, damping of the suspension outside the curve (that is, the side opposite to the steering direction) The second target control amount is calculated to increase the force. In other words, the second target control amount is calculated such that the suspension on the opposite side to the turning direction becomes hard. Furthermore, after increasing the damping force of the suspension outside the curve, a second target control amount may be calculated to increase the damping force of the suspension inside the curve.

As shown in FIG. 7, the second target control amount calculation unit 82 is a steering angle reference target control amount calculation unit 821, a steering angle speed reference target control amount calculation unit 822, and a second target control amount selection unit 823. Is equipped.

The steering angle reference target control amount calculation unit 821 calculates a steering angle reference target control amount with reference to the steering angle indicated by the steering angle signal. The steering angle speed reference target control amount calculating unit 822 calculates the steering angle speed by referring to the time change of the steering angle indicated by the steering angle signal, and the steering angle speed reference target control amount with reference to the calculated steering angle speed. Calculate

The second target control amount selection unit 823 sets a target control amount having a higher value out of the steering angle reference target control amount and the steering angle speed reference target control amount to the target control amount derived from the steering angle (second Select as target control amount).

The road surface determination unit 84 determines the road surface condition with reference to the wheel speed signal, and supplies a coefficient indicating the determination result to the multiplication unit 85. A specific configuration example of the road surface determination unit 84 will be described later.

The multiplication unit 85 multiplies the first target control amount calculated by the first target control amount calculation unit 81 by the coefficient supplied from the road surface determination unit 84, and multiplies the coefficient by the first target control. The amount is supplied to the selection unit 83.

Selection unit 83 selects a target control amount having a higher value among the first target control amount after coefficient multiplication, the second target control amount, and the roll rate proportional target control amount as a steering-derived target control amount. ,Output.

As described above, since the roll posture control unit 682 calculates the steering-derived target control amount that is a candidate for the suspension control amount according to the determination result by the road surface determination unit, control of the suspension damping force is performed according to the road surface condition. Can be done properly.

Further, the roll attitude control unit 682 calculates a first target control amount calculation unit 81 that calculates a first target control amount, and a coefficient according to the determination result by the road surface determination unit 84 as a value of the first target control amount. The road surface determination is performed because it includes a multiplication unit 85 for multiplying by and a selection unit 83 for selecting a steering-derived target control amount that is a candidate for a suspension control amount from a plurality of candidates including the first target control amount after coefficient multiplication. The target control amount can be suitably set according to the determination result by the unit.

Further, the first target control amount is calculated with reference to a steering torque signal representing the steering torque applied to the steering member 410, and the coefficient indicating the result of the road surface determination is the first target control amount. Multiplied by Therefore, according to the road surface condition, the first target control amount, which is a target control amount derived from torque, is multiplied by a coefficient smaller than 1 to make it difficult to select a target control amount derived from torque as a suspension control amount. It will be possible.

(Road surface judgment unit)
Subsequently, the road surface determination unit 84 will be described more specifically with reference to FIG. The road surface determination unit 84 is configured to determine a road surface condition with reference to a reference signal for performing the road surface determination, and to output a coefficient representing the determination result.

In the present embodiment, a configuration will be described in which a wheel speed signal indicating the wheel speeds of four wheels is referred to as the reference signal. Generally, when the road surface has unevenness, the radius of the tire 310 may be reduced by the convex portion of the road surface, or the radius of the tire 310 may be increased by the concave portion of the road surface. Thus, when the radius of the tire 310 changes, the wheel speed changes accordingly. Therefore, it can be said that the wheel speed signal is a suitable signal for determining the road surface condition.

The configuration for referring to the reference signal other than the wheel speed signal will be described in the second embodiment.

FIG. 8 is a block diagram showing a configuration example of the road surface determination unit 84. As shown in FIG. As shown in FIG. 8, the road surface determination unit 84 includes a high pass filter (HPF) 840, a band stop filter (BSF) 841, an absolute value calculation unit 842, a low pass filter (LPF) 844 and a coefficient determination unit 846. . As shown in FIG. 8, the wheel speed signal is input to the high pass filter 840, and the low pass filter 844 is disposed downstream of the high pass filter 840.

The order of the high pass filter 840 and the band stop filter 841 may be reversed from that shown in FIG. Even in that case, the low pass filter 844 is disposed downstream of the high pass filter 840 and the band stop filter 841.

The high pass filter 840 acts on the wheel speed signal and extracts the wheel speed fluctuation derived from the road surface condition by removing or reducing frequency components below the first cutoff frequency from the wheel speed signal. Here, the frequency components removed or reduced by the high pass filter 840 include the wheel speed fluctuation and the like derived from the steering. Note that the first cutoff frequency and the first order in the high pass filter 840 can be freely set, and more suitable values can be set by experimental values.

(Band stop filter 841)
When the band stop filter 841 is disposed downstream of the high pass filter 840, the band stop filter 841 acts on the wheel speed signal after the high pass filter 840 acts. When the band stop filter 841 is disposed upstream of the high pass filter 840, the band stop filter 841 acts on the wheel speed signal before the high pass filter 840 acts.

In any case, the band stop filter 841 reduces or cuts off the signal at the frequency included in the cut-off frequency band among the processing target signals input to itself, and does not change the signal in the other frequency bands . Here, the cutoff frequency band is designated by the center frequency and the bandwidth.

In addition, the vehicle speed signal is also input to the band stop filter 841 according to the present embodiment as a signal for determining the cutoff frequency band, and the band stop filter 841 changes the cutoff frequency band according to the wheel speed signal. It is configured to be possible. Specifically, the band stop filter 841 is configured to be able to change the center frequency of the cutoff frequency band in accordance with the vehicle speed indicated by the wheel speed signal. As an example, when the vehicle speed indicated by the wheel speed signal is represented by v (meters / second) and the diameter of the tire is represented by d (meters), the bandstop filter 841 has a center frequency Fc (Hz) of the cutoff frequency band Fc = v / (Π × d)
Set to The band stop filter 841 may be configured to further change the bandwidth of the cutoff frequency band according to the wheel speed signal.

As described above, by the band stop filter 841 having the cutoff frequency band corresponding to the wheel speed signal, the road surface determination unit 84 removes the contribution of the wheel speed fluctuation due to the eccentricity of the tire 310 from the wheel speed signal. The road surface condition can be determined. Therefore, the road surface determination can be appropriately performed.

The absolute value calculator 842 calculates the absolute value of the output signal of the high pass filter 840 and provides the low pass filter 844 with the absolute value.

The low pass filter 844 generates or outputs a signal indicating fluctuation of the wheel speed by removing or reducing frequency components higher than the second cutoff frequency from the output of the absolute value calculation unit 842. In other words, the low pass filter 844 calculates the fluctuation of the wheel speed as a kind of energy which is an index of the road surface condition. The second cutoff frequency and the second order in the low pass filter 844 can be freely set, and more preferable values can be set by experimental values.

The coefficient determination unit 846 outputs a coefficient according to the output value of the low pass filter 844. For example, the coefficient determining unit 846 sets the coefficient to be output when the output value of the low pass filter 844 is equal to or greater than a predetermined threshold, smaller than the coefficient to be output when the output value of the low pass filter 844 is less than the predetermined threshold. .

As a more specific example, the coefficient determination unit 846 outputs 0 as a coefficient if the output value of the low pass filter 844 is equal to or greater than a predetermined threshold, and if the output value of the low pass filter 844 is less than the predetermined threshold, Output 1 as a coefficient. The situation where the output value of the low pass filter 844 is equal to or more than the predetermined threshold corresponds to the case where the road surface is a bad road, and the situation where the output value of the low pass filter 844 is less than the predetermined threshold is the case where the road surface is not a bad road It corresponds to Thus, the coefficient determination unit 846 outputs a coefficient having a value according to the road surface condition.

The road surface determination unit 84 configured as described above extracts the wheel speed fluctuation derived from the road surface condition by the high pass filter 840, and removes the contribution of the wheel speed fluctuation caused by the eccentricity of the tire 310 by the band stop filter 841. The low-pass filter 844 outputs a signal indicating wheel speed fluctuation, and the coefficient determination unit 846 determines the value of the coefficient to be multiplied by the first target control amount according to the signal output from the low-pass filter 844.

According to the above configuration, the value of the coefficient can be suitably determined in accordance with the road surface condition determination result with reference to the wheel speed signal. In addition, since the band stop filter 841 eliminates the contribution of the wheel speed fluctuation caused by the eccentricity of the tire 310, it is possible to perform the determination with higher accuracy.

In addition, as described above, the coefficient determination unit 846 outputs a coefficient that is output when the output value of the low pass filter 844 is equal to or greater than a predetermined threshold when the output value of the low pass filter 844 is less than the predetermined threshold. Set smaller than the coefficient.

In general, depending on the road surface condition, a more comfortable ride may be realized by outputting the target control amount derived from the steering angle without outputting the target control amount derived from torque. Since the coefficient determination unit 846 can output the target control amount derived from the steering angle prior to the target control amount derived from torque according to the road surface condition by adopting the configuration as described above, it is more comfortable. A ride can be realized.

FIG. 9 is a process flow diagram showing a flow of various processes included in integrated or coordinated control (also referred to as “integrated / coordinated control”) performed by the steering control unit 610, the suspension control unit 650, and the integrated control unit 625. is there.

Processing group S610 shown in FIG. 9 is steering control processing performed by the steering control unit 610, and processing group S650 is suspension control processing performed by the suspension control unit 650. The integration / collaboration control processing S625 is performed by the integration control unit 625. The processes described below also indicate various processes performed by the steering control unit 610, the suspension control unit 650, and the integrated control unit 625.

In FIG. 9, the relationship between the respective processes involving the exchange of various signals is represented by a solid arrow, and the other relationships are represented by a broken arrow.

First, as shown in FIG. 9, steering torque is generated by the driver's steering.

(Step S609)
In step S609, signal processing is performed on a steering torque signal indicating a steering torque as an example of steering information. The signal processing may include phase compensation processing for the steering torque signal. This step is performed, for example, by the signal processing unit 609 described above.

(Step S611)
Subsequently, in step S611, base control amount determination processing with reference to the steering torque signal after signal processing is performed. This step is performed, for example, by the control amount calculation unit 611 described above calculating the control amount (base control amount).

(Step S630)
On the other hand, in step S630, roll rate response control processing is performed with reference to the roll rate value as an example of the vehicle state information. This step is performed by, for example, the ω feedback unit 620, the gain calculation unit 630, and the multiplication unit 640, and the correction control amount after the gain described above is calculated.

The roll rate value referred to in this step is calculated in a roll rate calculation process (step S673) to be described later (step S673), and provided as assist correction information through the integration / collaboration control process (step S625).

(Step 612)
Subsequently, in step S612, motor output determination processing is performed. In this step, a steering control amount defining the motor output is determined with reference to the base control amount calculated by the base control amount determination process and the corrected control amount after gain calculated by the roll rate response control process. This step is performed by, for example, the control amount correction unit 612 described above.

(Step S671)
On the other hand, in step S671, control processing is performed on the road surface input with reference to the wheel speed, and a target control amount related to the wheel speed is calculated. This step is performed by, for example, the above-described acceleration / deceleration / turning correction amount calculation unit 671, the one-wheel model application unit for state estimation 674, and the skyhook control unit 681.

(Step S673)
In step S673, roll rate calculation processing with reference to the lateral G is performed, and a roll rate value and a target control amount related to the lateral G are calculated. The roll rate value calculated in this step is referred to in the roll rate response control process (S630) described above as assist correction information through integration / collaborative control process (S625). This step is performed by, for example, the above-described acceleration / deceleration / turning pitch / roll rate calculation unit 673.

(Step 682)
In step S682, steering torque responsive control processing is performed with reference to the steering torque (damping force correction information) subjected to signal processing in step S609 and subjected to integration / collaborative control processing (S625), and a target control amount related to steering torque Is calculated. This step is performed by, for example, the above-described roll posture control unit 682. In this step, the steering torque before signal processing in S609 may be referred to on the condition that the integration / collaboration control processing (S625) is performed.

(Step S690)
In step S690, the target control amount having the highest value among the target control amounts calculated in steps S682, S671, and S673 is output as a suspension control amount defining the damping force of the suspension. This step is performed by, for example, the control amount selection unit 690.

(Integrated / coordinated control processing)
In step S625, the steering torque signal processed in step S609 and the roll rate value calculated in step S673 are referred to. Then, damping force correction information acquired with reference to the steering torque signal is output to step S682, and assist correction information acquired with reference to the roll rate value is output to step S630. This step is performed by the integrated control unit 625. The integrated control unit 625 may obtain the steering torque signal as the information obtained or calculated by the steering control unit 610 as described above.

The assist correction information may further include information other than the roll rate value. Examples of the information that may further be included as the assist correction information include information obtained by part of the roll rate response control process in S630 (for example, part or all of the process by the roll rate determination unit 633).

In addition to the steering torque, the damping force correction information may further include control processing of a part of suspension control processing. Examples of information that the damping force correction information may further include include information on a steering angle (steering angle signal) to be input to the suspension control unit 650, and part of the processing of steering torque response control processing in S682 (for example, Information included in part of the processing by the roll posture control unit 682 is included.

As shown in FIG. 9, in integrated / cooperative control, there are at least two feedback loops including a driver's response as shown below. In the integrated / coordinated control, the steering torque referred to in the steering control processing S610 is in the suspension control processing S650, and the roll rate value as the vehicle state calculated in the suspension control processing S650 is in the steering control processing S610. Referenced at the appropriate time.

(First loop)
Driver's steering → steering torque → integration / coordinated control processing (S625) → steering torque response control processing (S682) → damping force generation → vehicle behavior → driver's steering (second loop)
Driver's steering → vehicle behavior → roll rate calculation process (S673) → roll rate value → integration / coordination control process (S625) → roll rate response control process (S630) → motor output determination process (S612) → assist torque (or reverse) Force torque) generation → steering torque → driver's steering With the above-described configuration, the driver can provide assist torque (or reaction torque) with less discomfort for the driver and damping force of the suspension, thus achieving high ride comfort. be able to.

Second Embodiment
In the first embodiment, the road surface determination unit 84 has described the configuration in which the wheel speed signal indicating the wheel speeds of the four wheels is referred to as a reference signal for performing the road surface determination. It is not limited. Hereinafter, the case where the road surface determination unit 84 refers to a reference signal other than the wheel speed signal will be described.

When the road surface determination unit 84 refers to the following reference signal, parameters such as the cutoff frequency in the high pass filter 840 and the low pass filter 844 may be set as suitable values according to the reference signal.

In addition, the road surface determination unit 84 is configured to include a plurality of signal processing paths including the high pass filter 840 and the low pass filter 844, and the road surface is referred to with reference to a plurality of signals among the wheel speed signals described above and various reference signals shown below. It may be configured to perform the determination. With such a configuration, the accuracy of road surface determination can be improved.

(Example 1) Steering Angle Signal The road surface determination unit 84 may determine the road surface state with reference to a steering angle signal indicating the steering angle of the steering member 410. Generally, when unevenness is present on the road surface, the steering angle fluctuates due to the unevenness. Therefore, it can be said that the steering angle signal is a signal suitable for determining the road surface condition.

(Example 2) Steering Torque The road surface determination unit 84 may determine the road surface state by referring to a steering torque signal indicating the steering torque applied to the steering member 410. Generally, when the road surface is uneven, the steering torque fluctuates due to the unevenness. Therefore, the steering torque signal can be said to be a suitable signal for determining the road surface condition.

(Example 3) Motor Rotation of Steering Assist Motor The road surface determination unit 84 may determine the road surface state by referring to the motor rotation of the motor (steering assist motor) provided in the torque application unit 460. When the road surface has unevenness, the motor rotation speed of the steering assist motor also fluctuates due to the unevenness. Therefore, it can be said that the motor rotation number of the steering assist motor is a suitable signal for determining the road surface condition.

(Example 4) The yaw rate signal The road surface determination unit 84 may determine the road surface condition with reference to a yaw rate signal indicating the yaw rate of the vehicle 900. When the unevenness is present on the road surface, the yaw rate of the vehicle 900 also changes due to the unevenness directly or indirectly through the steering torque or the like. Therefore, it can be said that the yaw rate signal is a signal suitable for determining the road surface condition.

(Example 5) Lateral G signal, longitudinal G signal The road surface determination unit 84 refers to at least one of a lateral G signal indicating lateral acceleration of the vehicle 900 and longitudinal G signal indicating longitudinal acceleration of the vehicle 900. The road surface condition may be determined. When the road surface has unevenness, the lateral acceleration and the longitudinal acceleration of the vehicle 900 fluctuate due to the unevenness directly or indirectly through the steering torque or the like. Therefore, the lateral G signal and the longitudinal G signal can be said to be suitable signals for determining the road surface condition.

(Example 6) Up and down G signal A vehicle 900 includes an up and down G sensor for detecting the acceleration in the up and down direction of the vehicle 900, and the road surface determination unit 84 refers to the up and down G signal indicating the up and down acceleration. It may be configured to determine the state.

When the unevenness is present on the road surface, the acceleration in the vertical direction of the vehicle 900 fluctuates due to the unevenness. Therefore, the upper and lower G signals can be said to be suitable signals for determining the road surface condition.

(Example 7) Pitch rate The road surface determination unit 84 performs at least one of the pitch rate calculated by the vehicle state estimation unit 670 and the acceleration / deceleration pitch rate which is the pitch rate calculated by the acceleration / deceleration / turning correction amount calculation unit 671. The road surface condition may be determined with reference to. When the unevenness is present on the road surface, the pitch rate changes due to the unevenness directly or indirectly through the steering torque or the like. Therefore, it can be said that the pitch rate is a suitable signal for determining the road surface condition.

[Example of software implementation]
The control block (the steering control unit 610, the suspension control unit 650, and the integrated control unit 625) of the ECU 600 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. It may be realized by software using Processing Unit).

In the latter case, the ECU 600 is a CPU that executes instructions of a program that is software that implements each function, a ROM (Read Only Memory) or a storage device in which the above program and various data are readably recorded by a computer (or CPU). (These are referred to as “recording media”), a RAM (Random Access Memory) for developing the above-mentioned program, and the like. Then, the object of the present invention is achieved by the computer (or CPU) reading and executing the program from the recording medium. As the recording medium, a “non-transitory tangible medium”, for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit or the like can be used. The program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

200 car body 600 ECU (control device)
610 Steering control unit (first control unit)
611 control amount calculation unit 612 control amount correction unit 620 ω feedback unit 625 integrated control unit 630 gain calculation unit 650 suspension control unit (second control unit)
673 Roll Rate Calculation Unit 900 Vehicle

Claims

A vehicle control device for controlling a vehicle, wherein
A first control unit controlling at least a steering torque applied to a steering member to control a magnitude of an assist torque or a reaction torque applied to a steering apparatus for steering the vehicle;
A second control unit that controls a damping force of the suspension of the vehicle;
And an integrated control unit that acquires information acquired or calculated by the first control unit and the second control unit.
The integrated control unit outputs information acquired from the first control unit and the second control unit to the first control unit and the second control unit.
The first control unit controls the magnitude of the assist torque or the reaction torque by further referring to information output from the integrated control unit and obtained or calculated by the second control unit.
The second control unit controls the damping force of the suspension of the vehicle with reference to the steering torque or information output from the integrated control unit and acquired or calculated by the first control unit.
The second control unit estimates a roll rate of the vehicle, and at least refers to the estimated roll rate to control a damping force of a suspension of the vehicle.
The information acquired or calculated by the second control unit is the estimated roll rate.
The vehicle control device according to claim 1, wherein the first control unit and the second control unit are integrally provided.
The vehicle control device according to claim 1, wherein the first control unit and the integrated control unit are integrally provided.
The vehicle control device according to claim 1, wherein the second control unit and the integrated control unit are integrally provided.
The vehicle control device according to claim 1, wherein the first control unit, the second control unit, and the integrated control unit are integrally provided.
The vehicle control device according to any one of claims 1 to 5, wherein the estimated roll rate is a roll rate calculated with reference to at least acceleration in a lateral direction of the vehicle.
The vehicle control device according to any one of claims 1 to 6, wherein the integrated control unit acquires a steering torque signal as the information acquired or calculated by the first control unit.
A vehicle comprising a vehicle control device for controlling a vehicle, a torque application unit for applying an assist torque or a reaction torque to a steering member, and a suspension,
The vehicle control device
A first control unit controlling at least a steering torque applied to a steering member to control a magnitude of an assist torque or a reaction torque applied to a steering apparatus for steering the vehicle;
A second control unit that controls a damping force of the suspension of the vehicle;
And an integrated control unit that acquires information acquired or calculated by the first control unit and the second control unit.
The integrated control unit outputs information acquired from the first control unit and the second control unit to the first control unit and the second control unit.
The first control unit controls the magnitude of the assist torque or the reaction torque by further referring to information output from the integrated control unit and obtained or calculated by the second control unit.
The second control unit controls the damping force of the suspension of the vehicle with reference to the steering torque or information output from the integrated control unit and acquired or calculated by the first control unit.
The second control unit estimates a roll rate of the vehicle, and at least refers to the estimated roll rate to control a damping force of a suspension of the vehicle.
The information acquired or calculated by the second control unit is the estimated roll rate,
The torque applying unit applies an assist torque or a reaction torque to the steering member according to a control signal supplied from the first control unit.
A vehicle, wherein the suspension changes the damping force in accordance with a control signal supplied from the second control unit.