Vehicle motion control device
AssigneeHitachi Automotive Systems, Ltd.
InventorsMakoto Yamakado, Mitsuhide Sasaki, Mikio Ueyama, Keiichiro Nagatsuka
Life of this patent
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Abstract
In order to reliably assist a driver in emergency detour steering without causing a jerking forward motion of the vehicle during normal operation, a vehicle motion control device includes: a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, in which the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator.
Claims18
A vehicle motion control device comprising:
- a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information;
- a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain;
- and
- a gain adjustor that adjusts the gain, wherein
- the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator,
- the vehicle longitudinal motion controller includes
- an acceleration/deceleration controller that calculates a longitudinal acceleration command value of the vehicle based on the vehicle lateral jerk and a predetermined first gain, and outputs the longitudinal acceleration command value,
- a yaw moment controller that calculates a yaw moment command value of the vehicle based on the vehicle lateral jerk and a predetermined second gain, and outputs the yaw moment command value,
- the gain adjustor adjusts the first gain or the second gain based on the risk potential estimated by the risk potential estimator.
Dependencies are inferred from the claim text.