US 11,738,760 B2
Vehicle control apparatus
Etsuo Katsuyama, Susono (JP); and Manabu Nagasaka, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Apr. 13, 2022, as Appl. No. 17/719,871.
Claims priority of application No. 2021-070911 (JP), filed on Apr. 20, 2021.
Prior Publication US 2022/0332329 A1, Oct. 20, 2022
Int. Cl. B60W 40/13 (2012.01); B60W 40/10 (2012.01); B60W 30/02 (2012.01)
CPC B60W 40/13 (2013.01) [B60W 30/02 (2013.01); B60W 40/10 (2013.01); B60W 2040/1315 (2013.01); B60W 2530/20 (2013.01); B60W 2540/215 (2020.02)] 2 Claims
OG exemplary drawing
 
1. A vehicle control apparatus that performs vehicle control by a vehicle control actuator group based on a driver input or a vehicle motion control request, the vehicle control apparatus comprising:
a center of gravity six-component calculation unit configured to calculate a center of gravity six-component including a plane three-component and a three-component on spring as vehicle motion targets based on the driver input or the vehicle motion control request;
a tire three-component calculation unit configured to calculate a tire three-component of each wheel for two or more wheels of a vehicle from the center of gravity six-component by calculation of a quadratic programming method using an active-set method; and
a vehicle control unit configured to perform vehicle control by the vehicle control actuator group based on the tire three-component of each wheel, wherein
in the active-set method, a constraint expressed as an inequality corresponding to upper and lower limits of the tire three-component according to characteristics of the vehicle control actuator group or characteristics of each wheel is imposed on each wheel, and
the tire three-component calculation unit is configured to:
apply the constraint based on a determination result of determining whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum condition for obtaining an optimum solution under the constraint expressed by the inequality, and calculate an optimum solution of the tire three-component of each wheel by performing a tentative optimum solution calculation one or more times until the predetermined optimum condition is satisfied; and
store an application state of the constraint when the optimum solution satisfying the predetermined optimum condition is obtained, and calculate the optimum solution of the tire three-component of each wheel by using a stored value of the application state of the constraint, in next calculation of the optimum solution.