Vehicle control apparatus, vehicle control method, and vehicle control system

Patent metadata

Field	Value
Publication number	US-12528453-B2
Application number	US-202218566296-A
Country	US
Kind code	B2
Filing date	Jun 2, 2022
Priority date	Jun 4, 2021
Publication date	Jan 20, 2026
Grant date	Jan 20, 2026

Abstract

In one mode, with a vehicle control apparatus, a vehicle control method, and a vehicle control system according to the present invention, a control command is output for operating an actuator unit mounted in a vehicle, so as to obtain a control moment including at least one of a roll moment, a pitch moment, and a yaw moment that are generated for the vehicle before a curve on a traveling road on which the vehicle runs, based on a physical quantity about a curvature ahead on the traveling road and a physical quantity about a speed of the vehicle. In this way, the passenger's sense of security when the vehicle runs on the curve may be improved.

First claim

The invention claimed is:

1 . A vehicle control apparatus comprising:
a control unit that outputs a result calculated based on input information, wherein the control unit acquires a physical quantity about a curvature ahead on a traveling road on which a vehicle runs, acquires a physical quantity about a speed of the vehicle, and in order to change, before an occurrence of a vehicle behavior caused when the vehicle runs on a curve, an attitude of the vehicle to a preliminary attitude in preparation for running on the curve, outputs a control command for operating an actuator unit mounted in the vehicle, so as to obtain a control moment including at least one of a roll moment, a pitch moment, and a yaw moment that are generated for the vehicle before a curve on the traveling road, based on the physical quantity about the curvature ahead and the physical quantity about the speed.

2 . The vehicle control apparatus according to claim 1 , wherein the control command output by the control unit does not change longitudinal and lateral acceleration generated in the vehicle.

3 . The vehicle control apparatus according to claim 1 , wherein the control unit outputs the control command if a first condition is satisfied, the first condition indicating that the physical quantity about the curvature ahead is equal to or less than a predetermined first threshold or a difference between the physical quantity about the curvature ahead and a physical quantity about a curvature at a current location of the vehicle is equal to or greater than a predetermined second threshold, and if a second condition is satisfied, the second condition indicating that, a distance between a preview point corresponding to the curvature ahead on the traveling road and the current location of the vehicle is equal to or less than a predetermined third threshold or an estimated time of arrival at the preview point calculated based on the distance and the physical quantity about the speed of the vehicle is equal to or less than a predetermined fourth threshold.

4 . The vehicle control apparatus according to claim 1 ,
wherein the actuator unit includes a steering device, and wherein the control unit outputs the control command if a first condition is satisfied, the first condition indicating that the physical quantity about the curvature ahead is equal to or greater than a predetermined first threshold or a difference between the physical quantity about the curvature ahead and a physical quantity about a curvature at a current location of the vehicle is equal to or greater than a predetermined second threshold, and if a third condition is satisfied, the third condition indicating that a steering angle of the steering device is within a predetermined angle or an acquired actual yaw rate of the vehicle is within a predetermined range.

5 . The vehicle control apparatus according to claim 1 , wherein the control moment is calculated by multiplying a difference between the physical quantity about the curvature ahead and a physical quantity about a curvature at a current location of the vehicle and the physical quantity about the speed by a control gain or is calculated based on an estimated lateral acceleration, an estimated lateral jerk, or an estimated moment calculated based on the physical quantity about the curvature ahead and the physical quantity about the speed and generated in the vehicle at a preview point corresponding to the curvature ahead on the traveling road.

6 . The vehicle control apparatus according to claim 1 , wherein the control command output by the control unit is for
applying first driving force in a traveling direction of the vehicle to a first wheel, which is a front wheel of the vehicle, applying second driving force in a direction opposite to the traveling direction of the vehicle to a second wheel, which is the other one of the front wheels, applying third driving force matching the first driving force in the direction opposite to the traveling direction of the vehicle to a third wheel, which is a rear wheel of the vehicle and which is on the same side as the first wheel, and applying fourth driving force matching the second driving force in the traveling direction of the vehicle to a fourth wheel, which is the other one of the rear wheels of the vehicle and which is on the same side as the second wheel.

7 . The vehicle control apparatus according to claim 1 , wherein the control command output by the control unit is for
applying first driving force in a direction opposite to a traveling direction of the vehicle to a first wheel, which is a front wheel of the vehicle, applying second driving force in a direction opposite to the traveling direction of the vehicle to a second wheel, which is the other one of the front wheels, applying third driving force matching the first driving force in the traveling direction of the vehicle to a third wheel, which is a rear wheel of the vehicle and which is on the same side as the first wheel, and applying fourth driving force matching the second driving force in the traveling direction of the vehicle to a fourth wheel, which is the other one of the rear wheels of the vehicle and which is on the same side as the second wheel.

8 . The vehicle control apparatus according to claim 1 , wherein the control command output by the control unit is for
applying first driving force in a traveling direction of the vehicle to a first wheel, which is a front wheel of the vehicle, and to a second wheel, which is the other one of the front wheels and which is connected to the first wheel by a drive shaft, applying first braking force matching the first driving force in a direction opposite to the traveling direction of the vehicle to a third wheel, which is a rear wheel of the vehicle and which is on the same side as the first wheel, and applying second braking force matching the first driving force in the direction opposite to the traveling direction of the vehicle to the second wheel.

9 . The vehicle control apparatus according to claim 1 , wherein the control command output by the control unit is for
applying first driving force in a traveling direction of the vehicle to a first wheel, which is a rear wheel of the vehicle, and to a second wheel, which is the other one of the rear wheels and which is connected to the first wheel by a drive shaft, applying first braking force matching the first driving force in a direction opposite to the traveling direction of the vehicle to a third wheel, which is a front wheel of the vehicle and which is on the same side as the first wheel, and applying second braking force matching the first driving force in the direction opposite to the traveling direction of the vehicle to the second wheel.

10 . The vehicle control apparatus according to claim 1 , wherein the control command output by the control unit is for
applying first driving force in a traveling direction of the vehicle to a first wheel, which is a rear wheel of the vehicle, and to a second wheel, which is the other one of the rear wheels and which is connected to the first wheel by a drive shaft, applying first braking force matching the first driving force in a direction opposite to the traveling direction of the vehicle to a third wheel, which is a front wheel of the vehicle and which is on the same side as the first wheel, and applying second braking force matching the first driving force in the direction opposite to the traveling direction of the vehicle to a fourth wheel, which is the other one of the front wheels of the vehicle and which is on the same side as the second wheel.

11 . The vehicle control apparatus according to claim 1 , wherein the cont

Assignees

• Hitachi Astemo Ltd
• School Judicial Person Ikutoku Gakuen

Inventors

• Noma Daisuke
• Ueno Kentaro
• Yamakado Makoto
• Kano Yoshio
• Abe Masato

Classifications

• B60G17/0165

  to an external condition, e.g. rough road surface, side wind · CPC title

• B60W10/22

  including control of suspension systems · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60G17/06

  Characteristics of dampers {, e.g. mechanical dampers}(B60G17/015 takes precedence) · CPC title

• B60G2500/10

  Damping action or damper · CPC title