| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle control device capable of clarifying the relationship between the determination method of a target characteristic and the controller gain, and obtaining the desired steerability and stability. SOLUTION: A gain computation circuit 21 computes the gain C<SB>10</SB>by using the vehicle speed v detected by a vehicle speed sensor. A differential filter 22 has the characteristic of s/N<SB>3</SB>(s), and outputsδ<SB>MA</SB>×s/N<SB>3</SB>(s) by performing the primary differential filtering to the steering angleδ<SB>MA</SB>. A gain computation circuit 23 computes the gain 110, and multiplies the gain C<SB>110</SB>byδ<SB>MA</SB>×s/N<SB>3</SB>(s) output from the differential filter 22 to output C<SB>110</SB>×δ<SB>MA</SB>×s/N<SB>3</SB>(s). An adder 24 adds C<SB>10</SB>×δ<SB>MA</SB>output from the gain computation circuit 21 and C<SB>110</SB>×δ<SB>MA</SB>×s/N<SB>3</SB>(s) output from the gain computation circuit 23 to output the front wheel steering angleδ<SB>f</SB>as a target. s denotes a Laplace operator, C<SB>10</SB>and C<SB>20</SB>denote proportionals, and N<SB>3</SB>(s) denotes a molecular polynominal to be controlled. COPYRIGHT: (C)2008,JPO&INPIT |
