VEHICLE TRAVELING CONTROL APPARATUS

摘要

A vehicle traveling control apparatus includes a vehicle parameter detector, a vehicle parameter estimator, a disturbance-suppressing parameter calculator, an addition rate changer, and a disturbance suppressor. The vehicle parameter detector detects a vehicle parameter. The vehicle parameter estimator estimates, by means of a vehicle model, a vehicle parameter to be outputted in response to an input value. The disturbance-suppressing parameter calculator estimates, based on the vehicle parameters detected by the vehicle parameter detector and estimated by the vehicle parameter estimator, a disturbance generated at a vehicle, and calculates a disturbance-suppressing parameter. The addition rate changer identifies, based on the vehicle parameters detected by the vehicle parameter detector and estimated by the vehicle parameter estimator, the disturbance generated at the vehicle, and variably sets, based on the identified disturbance, an addition rate of the disturbance-suppressing parameter. The disturbance suppressor adds the disturbance-suppressing parameter set by the addition rate changer.

主权项

1. A vehicle traveling control apparatus, comprising:
a vehicle parameter detector that detects a vehicle parameter; a vehicle parameter estimator that estimates, by means of a vehicle model, a vehicle parameter to be outputted in response to an input value; a disturbance-suppressing parameter calculator that estimates, based on the vehicle parameter detected by the vehicle parameter detector and the vehicle parameter estimated by the vehicle parameter estimator, a disturbance generated at a vehicle, and calculates a disturbance-suppressing parameter that suppresses an influence of the disturbance; an addition rate changer that identifies, based on the vehicle parameter detected by the vehicle parameter detector and the vehicle parameter estimated by the vehicle parameter estimator, the disturbance generated at the vehicle, and variably sets, based on the identified disturbance, an addition rate of the disturbance-suppressing parameter; and a disturbance suppressor that adds the disturbance-suppressing parameter set by the addition rate changer.