VEHICULAR LONGITUDINAL ACCELERATION ESTIMATION AND CONTROL SYSTEM

摘要

PROBLEM TO BE SOLVED: To accurately estimate and control the longitudinal acceleration of a vehicle by focusing on a delay in the response of the longitudinal acceleration of the vehicle to braking/driving forces to wheels due to the inertial mass of the wheels and estimating and controlling the longitudinal acceleration of the vehicle in consideration of the response delay due to the inertial mass of the wheels.

SOLUTION: As actual braking/driving forces to a vehicle, actual braking/driving torques Tf and Tr to front wheels and rear wheels are computed according to a driver's braking/driving operation (S20 to 40). From the actual braking/driving torques Tf and Tr to the front wheels and rear wheels and an actual longitudinal acceleration Gx of the vehicle, an estimated longitudinal acceleration Gxhnof the vehicle is computed as the sum of a feed-forward estimate (first estimated longitudinal acceleration) where a delay in the response of the longitudinal acceleration Gx of the vehicle to the braking/driving forces (Tf and Tr) to the vehicle due to the inertial mass of the wheels is compensated and a feedback compensation amount (second estimated longitudinal acceleration) based on a deviation between the longitudinal acceleration of the vehicle and the response-delay-compensated first estimated longitudinal acceleration (S50).

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