VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

摘要

A vehicle control device includes a wheel speed sensor and a controller. The wheel speed sensor detects wheel speed. The controller estimates a sprung mass state based on information in a predetermined frequency region of wheel speed and controls an actuator to bring the estimated sprung mass state to a target sprung mass state. The controller calculates a first wheel speed as a reference wheel speed for individual wheels. The controller calculates a second wheel speed as a reference wheel speed of front and rear wheels. The controller calculates a third wheel speed as a reference wheel speed of all wheels. The controller calculates a reference wheel speed of each wheel. The controller detects that the estimation accuracy has deteriorated when a differential among reference wheel speeds of the wheels is equal to or greater than a prescribed value.

主权项

1. A vehicle control device comprising:
an actuator that performs sprung mass vibration damping control; a wheel speed sensor that detects wheel speed; a sprung mass state estimating unit that estimates a sprung mass state based on information in a prescribed frequency range of wheel speed detected by the wheel speed sensor; an actuator orientation control unit that controls the actuator so as to bring the estimated sprung mass state to a target sprung mass state; a reference wheel speed calculating unit including:
a first calculating unit that calculates a first wheel speed to serve as a reference wheel speed for individual wheels, doing so based on a vehicle body plan view model having wheel speed sensor values as an input;a second calculating unit that calculates a second wheel speed to serve as a reference wheel speed of front and rear wheels, doing so based on a vehicle body front view model having the first wheel speed as an input;a third calculating unit that calculates a third wheel speed to serve as a reference wheel speed of all wheels, doing so based on a vehicle body side view model having the second front and rear wheel speeds as an input; anda reference wheel speed calculating unit that calculates a reference wheel speed of each wheel, doing so based on a vehicle body plan view model having the third wheel speed as an input; and an estimation accuracy deterioration detection unit that detects deterioration in accuracy at which estimating is performed by the sprung mass state estimating unit when a differential among reference wheel speeds of the wheels to the low-frequency side from the predetermined frequency region in which sprung mass behavior appears is equal to or greater than a prescribed value.