Patent ID: 7987029
Filing Date: 2011-07-26
Classification: B60T,B60W,B62D,Y10S

Abstract:
1. A vehicle control device having a drive manipulated variable detecting element configured to detect a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of a predetermined motion of the vehicle, and an actuator device controller configured to sequentially control an operation of the actuator device, the vehicle control device comprising: an actual state amount grasping element configured to detect or estimate a first actual state amount, which is a value of a predetermined first state amount related to a predetermined motion of an actual vehicle; a model state amount determining element configured to determine a first model state amount, which is a value of the first state amount related to a predetermined motion of a vehicle on a vehicle model established beforehand as a model expressing dynamic characteristics of the vehicle, on the basis of at least the detected drive manipulated variable; a state amount error calculating element configured to calculate a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first model state amount; and an actual vehicle state amount error response controller and a model state amount error response controller, which are respectively configured to determine an actual vehicle actuator operation control input for operating the actuator device of an actual vehicle and a vehicle model operation control input for manipulating a predetermined motion of the vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero, wherein the actuator device controller is configured to control the operation of the actuator device on the basis of at least the determined actual vehicle actuator operation control input, the model state amount determining element is configured to determine the first model state amount on the basis of at least the detected drive manipulated variable and the determined vehicle model operation control input, and the model state amount error response controller is configured to finally determine the vehicle model operation control input such that a relationship between a difference between an external force acting on the vehicle on the vehicle model in the case where the vehicle model is manipulated on the basis of a vehicle model operation control input finally determined and an external force acting on the actual vehicle due to the actual vehicle actuator operation control input in the case where the actuator device is manipulated on the basis of the determined actual vehicle actuator operation control input and the first state amount error will be a relationship exhibiting higher linearity as compared with a relationship between a difference between an external force acting on the vehicle on the vehicle model in the case where a basic value of the vehicle model operation control input is determined such that the state amount error is approximated to zero on the basis of at least the calculated first state amount error and then the vehicle model is manipulated on the basis of the determined basic value and an external force acting on the actual vehicle due to the actual vehicle actuator operation control input in the case where the actuator device is manipulated on the basis of the determined actual vehicle actuator operation control input and the first state amount error.