Driving support control apparatus for vehicle

Abstract

An apparatus as an aspect of the invention acquires a vehicle motion index value, a driving state index value of a driver, a driving characteristic value that is estimated based on the vehicle motion index value and the driving state index value, and a vehicle motion target value and a driving state target value that are determined regardless of the driver's driving. Using these values, the apparatus determines a target value of a steering assist torque and a target value of a difference in braking/driving force between right and left wheels that converge at least one of a difference between the vehicle motion target value and the vehicle motion index value and a difference between the driving state target value and the driving state index value. The apparatus controls the steering assist torque and the difference in braking/driving force between the right and left wheels to their respective target values.

Claims

1. A driving support control apparatus for a vehicle that is equipped with a steering assist mechanism and a braking/driving force distribution mechanism for right and left wheels, comprising: a vehicle motion index value acquisition portion that acquires a vehicle motion index value as an index value of a motion state of the vehicle; a driving state index value acquisition portion that acquires a driving state index value as an index value of a driving state of a driver of the vehicle; a driver driving characteristic value estimation portion that estimates a driver driving characteristic value representing driving characteristics of the driver, based on the vehicle motion index value and the driving state index value; a vehicle motion/driving state target value determination portion that determines a vehicle motion target value as a target value of the vehicle motion index value and a driving state target value as a target value of the driving state index value in driving support control, regardless of the driver's steering; a control target value determination portion that determines a target value of a steering assist torque and a target value of a difference in braking/driving force between the right and left wheels that converge at least one of a difference between the vehicle motion target value and the vehicle motion index value and a difference between the driving state target value and the driving state index value, using a vehicle motion characteristic value representing motion characteristics of the vehicle, the driver driving characteristic value, the vehicle motion index value and the driving state index value; a steering assist torque control portion that controls a steering assist torque that is given by the steering assist mechanism, to the target value of the steering assist torque; and a right/left braking/driving force difference control portion that controls a difference in braking/driving force between the right and left wheels that is given by the braking/driving force distribution mechanism for the right and left wheels, to the target value of the difference in braking/driving force between the right and left wheels.

2. The apparatus according to claim 1, wherein the control target value determination portion includes a feedback gain calculation portion that calculates a feedback gain that converges at least one of the difference between the vehicle motion target value and the vehicle motion index value and the difference between the driving state target value and the driving state index value, using a theory of an optimal regulator, from an equation of state representing the motion state of the vehicle and the driving state of the driver, which is obtained by making respective equations of motion in a lateral direction of the vehicle, a yaw direction of the vehicle and a rotational direction of steered wheels that are represented using the vehicle motion characteristic value, and also an equation of state that gives a steering torque of the driver that is represented using the estimated driver driving characteristic value, simultaneous with one another, and a control target value calculation portion that calculates the target value of the steering assist torque and the target value of the difference in braking/driving force between the right and left wheels, using at least one of the difference between the vehicle motion target value and the vehicle motion index value and the difference between the driving state target value and the driving state index value, and the feedback gain.

3. The apparatus according to claim 2, wherein the feedback gain calculation portion updates the feedback gain using the most recently estimated driver driving characteristic value, when a predetermined condition is fulfilled.

4. The apparatus according to claim 3, wherein the feedback gain calculation portion carries out update of the feedback gain when an evaluation function that increases/decreases as a magnitude of a difference between the estimated driver driving characteristic value and a normative driver driving characteristic value as a driver driving characteristic value of a corresponding normative driver model increases/decreases, deviates from a predetermined range.

5. The apparatus according to claim 4, wherein the evaluation function is a function of a difference between the estimated driver driving characteristic value and the normative driver driving characteristic value, and further increases/decreases based on a driving history of the driver and the driving characteristics of the driver and/or information on a periphery of the vehicle.

6. The apparatus according to claim 4, further comprising: an awareness promotion portion that carries out promotion of awareness of the driver when a number of times the feedback gain is updated exceeds a predetermined number of times.

7. The apparatus according to claim 1, wherein the vehicle motion target value and the driving state target value are a vehicle motion index value and a driving state target value that are calculated on an assumption that a target displacement of the vehicle, which is determined based on information on a periphery of the vehicle or a target course of the vehicle, is realized by a normative driver model, respectively.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Features, advantages, and technical and industrial significance of an exemplary embodiment of the invention will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and wherein:

(2) FIG. 1 is a schematic view of a vehicle that is mounted with a driving support control apparatus for a vehicle according to the embodiment of the invention;

(3) FIG. 2A is a view representing a system that is constituted by the driving support control apparatus for the vehicle according to the embodiment of the invention, in the form of a block diagram;

(4) FIG. 2B is a view representing the configuration of an assist controller in the driving support control apparatus for the vehicle, in the form of a block diagram; and

(5) FIG. 3 is a view showing an example of changes in an evaluation function of a driver characteristic value with time.

DETAILED DESCRIPTION OF EMBODIMENT

(6) Configuration of Vehicle

(7) Referring to FIG. 1, a vehicle 10 such as an automobile or the like, into which a driving support control apparatus according to the invention is integrated, is mounted, in a normal aspect, with front-right and front-left wheels 12FR and 12FL, rear-right and rear-left wheels 12RR and 12RL, a drive train device (only partly shown) that generates braking/driving forces for the respective wheels (only for the rear wheels because the vehicle of the example shown in the drawing is a rear-wheel-drive vehicle) in accordance with depression of an accelerator pedal by a driver, a steering device 20 for controlling the steering angle of the front wheels (a steering device for the rear wheels may be further provided), and a braking system device (not shown) that generates braking forces for the respective wheels. In the normal aspect, the drive train device is configured such that a driving torque or a rotational force is transmitted from an engine and/or an electric motor (not shown, a hybrid-type drive device having both the engine and the electric motor may be employed) to the rear wheels 12RR and 12RL via a transmission (not shown) and a differential gear device 14. In the case where torque vectoring control is performed by adjusting the distribution of the driving forces transmitted to the right and left wheels, a right/left driving force distribution differential capable of performing this torque vectoring control may be adopted as the differential gear device 14. Incidentally, in the differential gear device 14, the distribution of the braking/driving forces of the right and left wheels may be adjusted by adjusting the distribution of the braking forces of the right and left wheels. Furthermore, the drive train device may be a drive device of an in-wheel motor type. In this case, the braking/driving forces that are generated individually for the right and left wheels are adjusted. Besides, the control of distributing the braking/driving forces to the right and left wheels may be performed by adjusting the braking forces of the respective wheels independently of one another with the aid of the braking system device.

(8) A power steering device that transmits rotation of a steering wheel 22 operated by the driver to tie rods 26R and 26L while boosting a rotational torque of the steering wheel 22 with the aid of a boosting device 24 and that turns the front wheels 12FR and 12FL may be adopted as the steering device 20. In the invention in particular, as will be described later, driving characteristics of the driver are detected referring to a driving state of the driver and a motion state of the vehicle, and furthermore, a torque (a steering assist torque) that is applied by the boosting device 24 through driving support control with reference to the driving characteristics is determined. Therefore, a device such as an arbitrary sensor or the like that detects or estimates a steering angle θsw and/or a torque Td given to the steering wheel by the driver may be provided. Incidentally, in the configuration of the present embodiment of the invention, the steering wheel and steered wheels (the front-right and front-left wheels in the example shown in the drawing) may be mechanically directly coupled to each other to constitute a mechanism, such that a generation state of torque in a yaw direction in the steered wheels (a self-aligning torque or the like) is perceived by the driver through the steering wheel.

(9) Besides, the vehicle 10 to which the driving support control apparatus according to the invention is applied may be provided with an onboard camera 40, a radar device 42 and the like for detecting a situation around the vehicle, for example, a white line (or a yellow line) on the road, other vehicles, obstacles and the like, and a GPS device (a car navigation system) 44 that communicates with a GPS artificial satellite to acquire various pieces of information such as information on the position of the host vehicle and the like.

(10) The operation control of the respective parts of the aforementioned vehicle and the operation control of the driving support control apparatus according to the invention are performed by an electronic control unit 50. The electronic control unit 50 may include a normal-type microcomputer and a drive circuit. The microcomputer has a CPU, a ROM, a RAM and an input/output port device that are coupled to one another by a bidirectional common bus. The configuration and operation of the respective units of the driving support control apparatus according to the invention, which will be described later, may be realized by the operation of the electronic control unit (the computer) 50 according to a program. A steering torque Td of the driver, a steering angle δ of the driver, a yaw rate γ and/or a lateral acceleration Yg from a gyro sensor 30, pieces of information s1 to s3 from the onboard camera 40, the radar device 42 or the like, and the GPS device 44 or the like, and the like are input to the electronic control unit 50. In an aspect that will be described later, control commands representing a steering assist torque Ta, a controlled variable for the control of distributing the braking/driving forces to the right and left wheels (e.g., a driving force distribution ratio kr) and the like are output from the electronic control unit 50 to corresponding devices. Incidentally, although not shown in the drawing, various parameters necessary for various kinds of control that should be performed in the vehicle of the present embodiment of the invention, for example, various detection signals such as a longitudinal G sensor value, wheel speeds and the like may be input to the electronic control unit 50, and various control commands may be output from the electronic control unit 50 to the corresponding devices.

(11) Outline of Driving Support Control According to the Invention

(12) In the art of driving support control according to the invention, with a view to controlling the traveling direction of the vehicle as a method of providing support for the driver's driving (especially steering), first of all, braking/driving force distribution control for the right and left wheels, which is performed by a right/left wheel braking/driving force distribution mechanism (the right/left driving force distribution differential 14 in the example of FIG. 1) as well as steering torque assist control that is performed by the steering device 20 to adjust the steering angle of the steered wheels is adopted. Thus, the controlled variables that are to be obtained through the entire driving support control are partially taken charge of by right/left wheel braking/driving force distribution control, and the controlled variable of the steering assist torque is reduced. Therefore, the difference between the steering torque that the driver tries to give through the steering wheel and the torque that is perceived by the driver from the steering wheel decreases, and an attempt is made to alleviate the feeling of strangeness developed by the driver.

(13) Besides, furthermore, in the invention, the structure that gives a response of the motion of the vehicle and the structure that gives a response in the driver's driving are considered to be an integral system, as driving support control. In this system, state feedback control in which the steering assist torque and the difference in braking/driving force between the right and left wheels are given to the steering torque assist mechanism (the steering device 20 ) and the right/left wheel braking/driving force distribution mechanism (the right/left driving force distribution differential or braking devices for the respective wheels) respectively as feedback input values is performed. Then, owing to this configuration, the deviation between the controlled variables that are given in driving support control and the response in the driver's driving (steering operation) is reduced, and an attempt is made to further alleviate the feeling of strangeness developed by the driver.

(14) Principle of State Feedback Control in Driving Support Control

(15) Driving support control for the vehicle to which the invention is applied is basically the control of providing support for driving by giving the steering assist torque and the difference in braking/driving force between the right and left wheels to the vehicle as controlled variables such that the motion of the vehicle follows a target state or locus that is set based on information on the periphery of the vehicle and information on a future locus that is favorably set for a destination desired by the driver. However, in such driving support control, as described in the section of “summary of the invention”, in the case where the controlled variables are determined based only on the motion of the vehicle, the driver's driving is not taken into account, and the deviation between the motion of the vehicle that is realized by the controlled variables and the motion of the vehicle that is realized by the driver's driving is large, the driver can develop a feeling of strangeness for the motion of the vehicle according to driving support control. Thus, in the invention, the driver's steering is taken into account in the controlled variables in driving support control. Thus, the method of determining the controlled variables in driving support control is improved such that the followability of the target state or locus by the motion of the vehicle is secured while restraining, as much as possible, the motion of the vehicle realized by the controlled variables and the motion of the vehicle realized by the driver's steering from deviating from each other.

(16) In concrete terms, in the present embodiment of the invention, with a view to taking the driver's steering into account, the structure that gives a response in the motion of the vehicle and the structure that gives a response in the driver's driving are modeled as an integral response system. In this model, state feedback control for converging the motion of the vehicle to the target state or locus is performed. In this state feedback control, in the present embodiment of the invention, a state feedback input may be calculated using the theory of an optimal regulator.

(17) More specifically, first of all, when a linear two-wheel model is used as to the motion in a lateral direction of the vehicle and the motion in the yaw direction of the vehicle, an equation of motion in the lateral direction of the vehicle and an equation of motion in the yaw direction of the vehicle are expressed by expressions (1) and (2) shown below respectively, and an equation of motion around the steering wheel is expressed by an expression (3) shown below.

(18) $\begin{array}{cc}\left[\mathrm{Formula}1\right]& \\ m\frac{d^2}{d{t}^2}\mathrm{yc}+\frac{2\left(\mathrm{Kf}+\mathrm{Kr}\right)}{V}.Math.\frac{d}{dt}\mathrm{yc}+\frac{2\left(\mathrm{lf}.Math.\mathrm{Kf}-\mathrm{lr}.Math.\mathrm{Kf}\right)}{V}.Math.\frac{d}{dt}\Psi -2\left(\mathrm{Kf}+\mathrm{Kr}\right)\Psi =\frac{2\mathrm{Kf}}{n}\theta \mathrm{sw}& \left(1\right)\\ \frac{2\left(\mathrm{lf}.Math.\mathrm{Kf}-\mathrm{lr}.Math.\mathrm{Kr}\right)}{V}\frac{d}{dt}\mathrm{yc}+I\frac{d^2}{d{t}^2}\Psi +\frac{2\left({\mathrm{lf}}^2.Math.\mathrm{Kf}-{\mathrm{lr}}^2.Math.\mathrm{Kf}\right)}{V}.Math.\frac{d}{dt}\Psi -2\left(\mathrm{lf}.Math.\mathrm{Kf}+\mathrm{lr}.Math.\mathrm{Kr}\right)\Psi =\frac{2\mathrm{lf}.Math.\mathrm{Kf}}{n}\theta \mathrm{sw}+\mathrm{Mz}& \left(2\right)\\ \mathrm{Is}\frac{d^2}{dt}\theta \mathrm{sw}=-\mathrm{Cs}.Math.\theta \mathrm{sw}-\frac{2\xi \mathrm{Kf}}{n}\left(\frac{\theta \mathrm{sw}}{n}-\frac{\mathrm{lf}}{V}\frac{d}{dt}\Psi +\Psi -\frac{1}{V}\frac{d}{dt}\mathrm{yc}\right)+\mathrm{Ta}+\mathrm{Td}& \left(3\right)\end{array}$

(19) It should be noted herein that yc, ψ and θsw denote a lateral position, a yaw angle and a steering angle of the vehicle respectively (diψ/dt denotes the yaw rate γ), and are state variables. Besides, m, Kf, Kr, lf, lr, n, I, Is, Cs and ζ denote a vehicle weight, a front-wheel cornering power, a rear-wheel cornering power, a distance between the front wheels and the center of gravity, a distance between the rear wheels and the center of gravity, a steering ratio, a moment of inertia in the yaw direction of the vehicle, a moment of inertia of rotation of the steering wheel, a steering damping coefficient and a pneumatic trail respectively, and are characteristic values (constants) representing the motion characteristics of the vehicle. Besides, V denotes a vehicle speed (which is treated as a constant in state feedback, but an actually measured value is used in computing the controlled variables later). Furthermore, Ta and Mz denote an input value of the steering assist torque and an input value of the difference between the braking/driving forces distributed to the right and left wheels (a yaw moment) respectively, and are controlled variables of driving support control. Incidentally, in the case where the equations of motion expressed by the aforementioned expressions (1), (2) and (3) are made simultaneous with one another to constitute a differential equation (an equation of state) regarding the motion of the vehicle in which state vectors having yc, ψ, θsw and time derivatives thereof as components are used as variables, there is obtained a system that takes only the response of the motion of the vehicle into account.

(20) As for the driver's steering, on the assumption that a target steering angle θsw* at the time when the driver displaces the vehicle to a target position yd* as to the lateral direction is determined according to a forward gaze model, the target steering angle θsw* is expressed by an expression (4) shown below.

(21) $\begin{array}{cc}\left[\mathrm{Formula}2\right]& \\ \theta {\mathrm{sw}}^{*}=\frac{h}{1+\mathrm{Tn}.Math.s}\left\{{\mathrm{yd}}^{*}-\left(\mathrm{yc}+\mathrm{TpV}\Psi \right)\right\}& \left(4\right)\end{array}$

(22) It should be noted herein that h, Tn and Tp denote a steering gain of the driver, a first-order lag time constant and a forward gaze time respectively, and are characteristic values representing the driving characteristic (the steering characteristics) of the driver. Besides, s denotes a frequency variable after Laplace transformation. Then, on the assumption that the steering torque Td that the driver gives to the steering wheel is proportional to the difference between the target value θsw* of the steering angle and the current value θsw of the steering angle, the steering torque Td is given by Td=Kp(θsw*−θsw) . . . (5) (Kp denotes a mechanical constant that is determined by the steering mechanism). Therefore, when the expression (4) is assigned to θsw* in the expression (5) to achieve transformation into a state space, a differential equation shown below is given after all, as to the steering torque Td of the driver.

(23) $\begin{array}{cc}\left[\mathrm{Formula}3\right]& \\ \frac{d}{dt}\mathrm{Td}=-\frac{\mathrm{Kp}.Math.h.Math.\mathrm{Tp}.Math.V}{\mathrm{Tn}}\Psi +\frac{\mathrm{Kp}.Math.h}{\mathrm{Tn}}\left(\mathrm{yc}-{\mathrm{yd}}^{*}\right)-\mathrm{Kp}\frac{d}{dt}\theta \mathrm{sw}-\frac{1}{\mathrm{Tn}}\mathrm{Td}& \left(6\right)\end{array}$

(24) The aforementioned expression (6) describes the behavior of the steering torque of the driver at the time when a certain value of the target lateral position yd* is given, namely, the response in the driver's driving. Incidentally, in the aforementioned expressions (4) and (6), while the target lateral position yd* of the driver is intrinsically determined through the driver's direct look at the situation around the vehicle, the target lateral position yd* of the driver cannot be acquired in the control apparatus, and the target lateral position yd* of the driver is considered to be substantially equal to a target lateral position Ys* (a mechanical target lateral position) that is determined by the control apparatus (a target locus determination unit that will be described later) based on information on the periphery of the vehicle and information on the future locus. Therefore, in the present embodiment of the invention, a mechanical target lateral position Ys* may be used as an approximated value of the target lateral position yd*.

(25) Thus, in the invention, the equation of state that describes the response in the driver's driving (the expression (6)) is made simultaneous with the foregoing equations of motion (the expressions (1) to (3)) of the motion of the vehicle to constitute an integral system that describes the motion of the vehicle and the driver's driving. In this system, state feedback for converging the state vector to a target state is conceived using the theory of the optimal regulator.

(26) First of all, when the expressions (1) to (3) and (6) are made simultaneous with one another to be rewritten into the form of an equation of state (of a linear system) of a state vector X and an input vector u, that is, dX/dt=A.Math.X+B.Math.u . . . (7), the equation of motion is expressed by an expression shown below.

(27) $\begin{array}{cc}\left[\mathrm{Formula}4\right]& \\ \left[\begin{array}{c}\stackrel{\mathrm{.Math.}}{\Psi }\\ \stackrel{.}{\Psi }\\ \stackrel{\mathrm{.Math.}}{y}c\\ \stackrel{.}{y}c\\ \stackrel{\mathrm{.Math.}}{\theta }\mathrm{sw}\\ \stackrel{.}{\theta }\mathrm{sw}\\ \stackrel{.}{T}d\end{array}\right]=\left[\begin{array}{ccccccc}a11& a12& a13& 0& 0& a16& 0\\ 1& 0& 0& 0& 0& 0& 0\\ a31& a32& a33& 0& 0& a36& 0\\ 0& 0& 1& 0& 0& 0& 0\\ a51& a52& a53& 0& a55& a56& 1\\ 0& 0& 0& 0& 0& 1& 0\\ 0& a72& 0& a74& a75& a76& a77\end{array}\right].Math.\left[\begin{array}{c}\stackrel{.}{\Psi }\\ \Psi \\ \stackrel{.}{y}c\\ \mathrm{yc}\\ \stackrel{.}{\theta }\mathrm{sw}\\ \theta \mathrm{sw}\\ \mathrm{Td}\end{array}\right]+\hspace{1em}\left[\begin{array}{cc}0& b12\\ 0& 0\\ 0& 0\\ 0& 0\\ b51& 0\\ 0& 0\\ 0& 0\end{array}\right].Math.\left[\begin{array}{c}\mathrm{Ta}\\ \mathrm{Mz}\end{array}\right]& \left(8\right)\end{array}$

(28) In the aforementioned expression, variables obtained by adding a dot above yc, ψ, θsw and Td are first-order differentials thereof respectively, and variables obtained by adding two dots above yc, ψ and θsw are second-order differentials thereof respectively. Besides, a11 to a77, b11 and b51 are as follows.

(29) $\begin{array}{cc}\left[\mathrm{Formula}5\right]& \\ a11=-\frac{2\left({\mathrm{lf}}^2\mathrm{Kf}+{\mathrm{lr}}^2\mathrm{Kr}\right)}{\mathrm{IV}},a12=-\frac{2\left(\mathrm{lf}.Math.\mathrm{Kf}-\mathrm{lr}.Math.\mathrm{Kr}\right)}{V},a13=-\frac{2\left(\mathrm{lf}.Math.\mathrm{Kf}-\mathrm{lr}.Math.\mathrm{Kr}\right)}{\mathrm{IV}},a16=\frac{2\mathrm{lf}.Math.\mathrm{Kf}}{I}a31=-\frac{2\left(\mathrm{lf}.Math.\mathrm{Kf}+\mathrm{lr}.Math.\mathrm{Kr}\right)}{\mathrm{mV}},a32=\frac{2\left(\mathrm{Kf}+\mathrm{Kr}\right)}{m},a33=\frac{2\left(\mathrm{Kf}+\mathrm{Kr}\right)}{\mathrm{mV}},a36=\frac{2\mathrm{Kf}}{\mathrm{mn}},a51=\frac{2\xi .Math.\mathrm{lf}.Math.\mathrm{Kf}}{n.Math.\mathrm{Is}.Math.V},a52=-\frac{2\xi .Math.\mathrm{lf}.Math.\mathrm{Kf}}{n.Math.\mathrm{Is}},a53=\frac{2\xi .Math.\mathrm{Kf}}{n.Math.\mathrm{Is}.Math.V},a55=-\frac{\mathrm{Cs}}{\mathrm{Is}},a56=-\frac{2\xi .Math.\mathrm{Kf}}{n^2\mathrm{Is}},a72=-\frac{\mathrm{Kp}.Math.h.Math.\mathrm{Tp}.Math.V}{\mathrm{Tn}},a74=-\frac{\mathrm{Kp}.Math.h}{\mathrm{Tn}},a75=-\mathrm{Kp},a76=-\frac{\mathrm{Kp}}{\mathrm{Tn}},a77=-\frac{1}{\mathrm{Tn}},b12=\frac{1}{I},b51=\frac{1}{\mathrm{Is}}& \left(9\right)\end{array}$

(30) In the expression (8), the state vector X is (dψ/dt(=γ), ψ, dyc/dt, yc, dθsw/dt, θsw, Td). It should be noted that the steering torque Td as an index value representing the driving state of the driver as well as an index value representing the motion state of the vehicle is included in the state vector X. Besides, the input vector u is (Ta, Mz). Incidentally, the term of the difference yc-yd* between the actual lateral position and the target lateral position is included in the right side in the expression (6). However, the target lateral position is an amount whose reference can be set to an arbitrary position with respect to the vehicle, and is always used in the form of the difference between the target lateral position and the actual lateral position in the feedback input values. Therefore, for the sake of convenience, the target lateral position is described as the lateral position yc in the expression (8).

(31) Thus, in the equation of state of the aforementioned expression (8), according to the theory of the optimal regulator, when an evaluation function J of a quadratic form shown below assumes a minimum value, the state vector X stably converges to a target state vector X* thereof ((dψ/dt)*, ψ*, (dyc/dt)*, yc*, (dθsw/dt)*, θsw*, Td*).

(32) $\begin{array}{cc}\left[\mathrm{Formula}6\right]& \\ J={\int }_0^{\infty }\left(\begin{array}{c}{q_{\stackrel{.}{\Psi }}\left(\stackrel{.}{\Psi }-{\stackrel{.}{\Psi }}^{*}\right)}^2+{q_{\Psi }\left(\Psi -{\Psi }^{*}\right)}^2+{q_{\stackrel{.}{y}c}\left(\stackrel{.}{y}c-\stackrel{.}{y}{c}^{*}\right)}^2+\\ {q_{\mathrm{yc}}\left(\mathrm{yc}-{\mathrm{yc}}^{*}\right)}^2+{q_{\stackrel{.}{\theta }\mathrm{sw}}\left(\stackrel{.}{\theta }\mathrm{sw}-\stackrel{.}{\theta }{\mathrm{sw}}^{*}\right)}^2+\\ {q_{\theta \mathrm{sw}}\left(\theta \mathrm{sw}-\theta {\mathrm{sw}}^{*}\right)}^2+{q_{\mathrm{Ts}}\left(\mathrm{Td}-{\mathrm{Td}}^{*}\right)}^2+r1.Math.{\mathrm{Ta}}^2+\\ r2.Math.{\mathrm{Mz}}^2\end{array}\right)dt& \left(10\right)\end{array}$

(33) It should be noted herein that q and r of the respective terms are weight coefficients. When the weight of a certain one of the terms is increased, the components of that term is relatively more stably converged. Then, while the input vector u that minimizes the evaluation function J is given by an expression: u=−K.Math.(X−X*) . . . (11), a matrix K is calculated by solving a Riccati equation. This matrix K has the following form.

(34) $\begin{array}{cc}\left[\mathrm{Formula}7\right]& \\ K=\left[\begin{array}{ccccccc}K11& K12& K13& K14& K15& K16& K17\\ K21& K22& K23& K24& K25& K26& K27\end{array}\right]& \left(12\right)\end{array}$

(35) Therefore, after all, the steering assist torque Ta and the difference in braking/driving force between the right and left wheels (the yaw moment) Mz are given as follows.

(36) $\begin{array}{cc}\left[\mathrm{Formula}8\right]& \\ \mathrm{Ta}=-K11\left(\stackrel{.}{\Psi }-{\stackrel{.}{\Psi }}^{*}\right)-K12\left(\Psi -{\Psi }^{*}\right)-K13\left(\stackrel{.}{\mathrm{yc}}-{\stackrel{.}{\mathrm{yc}}}^{*}\right)-K14\left(\mathrm{yc}-{\mathrm{yc}}^{*}\right)-K15\left(\stackrel{.}{\theta }\mathrm{sw}-\stackrel{.}{\theta }{\mathrm{sw}}^{*}\right)-K16\left(\theta \mathrm{sw}-\theta {\mathrm{sw}}^{*}\right)-K17\left(\mathrm{Td}-{\mathrm{Td}}^{*}\right)\mathrm{Mz}=-K21\left(\stackrel{.}{\Psi }-{\stackrel{.}{\Psi }}^{*}\right)-K22\left(\Psi -{\Psi }^{*}\right)-K23\left(\stackrel{.}{\mathrm{yc}}-{\stackrel{.}{\mathrm{yc}}}^{*}\right)-K24\left(\mathrm{yc}-{\mathrm{yc}}^{*}\right)-K25\left(\stackrel{.}{\theta }\mathrm{sw}-\stackrel{.}{\theta }{\mathrm{sw}}^{*}\right)-K26\left(\theta \mathrm{sw}-\theta {\mathrm{sw}}^{*}\right)-K27\left(\mathrm{Td}-{\mathrm{Td}}^{*}\right)& \left(13\right)\end{array}$

(37) That is, K11 to K27 denote feedback gains, and are functions of vehicle motion characteristic values representing the motion characteristics of the vehicle and driver driving characteristic values representing the driving characteristics (the steering characteristics in the case of the present embodiment of the invention) of the driver. Incidentally, as described above, the vehicle speed is treated as a vehicle motion characteristic value in state feedback of the present embodiment of the invention.

(38) In the case where driving support control according to the aforementioned state feedback control is performed during running of the vehicle, the feedback gains K11 to K27 are calculated using the vehicle motion characteristic values and the driver driving characteristic values, and are multiplied by differences between current values of respective components of the state vector X and target values of the respective corresponding components. Thus, the steering assist torque Ta and the difference in braking/driving force between the right and left wheels (the yaw moment) Mz as feedback input values are calculated. In computing the feedback gains K11 to K27, the vehicle motion characteristic values are constants in principle, except for the vehicle speed. Therefore, values prepared in advance may be used as the vehicle motion characteristic values. A momentarily detected value may be used as the vehicle speed. As will be described later, the driver driving characteristic values are estimated using vehicle motion index values and driving state index values during running of the vehicle, and are utilized to compute the feedback gains K11 to K27. Besides, the target values of the respective components of the state vector X may be calculated by performing computation on the assumption that the mechanical target lateral position Ys* that is determined based on information on the periphery of the vehicle and information on the future locus is realized in driving the vehicle, by a normative driver model, namely, a model of the driver having ideal response characteristics in driving the vehicle.

(39) Thus, in accordance with the principle of driving support control according to the aforementioned state feedback control, the feedback gains K11 to K27 are functions of the driver driving characteristic values. The steering assist torque Ta and the difference in braking/driving force between the right and left wheels (the yaw moment) Mz, which are calculated using those feedback gains, are determined such that the vehicle motion index values and the driving state index values converge to the respective target values for achieving the mechanical target lateral position Ys* under the condition that there is a behavior in driving based on the driving characteristics of the driver. According to this configuration, the driving behavior of the driver is taken into account in state feedback, so the deviation between the driver's steering and the input required for feedback control is expected to be reduced.

(40) Configuration of Driving Support Control Apparatus

(41) In the vehicle to which the driving support control apparatus according to the invention is applied, driving of the vehicle is achieved by the operation of the steering mechanism and the braking/driving force distribution mechanism for the right and left wheels according to the driver's steering and the controlled variables that are determined through driving support control in an assist control computer. Then, as described above, in driving support control according to the present embodiment of the invention, the structure that gives a response of the motion of the vehicle and the structure that gives a response in the driver's driving are considered to be an integral system, and the steering assist torque and the difference in braking/driving force between the right and left wheels, which are calculated using the theory of the optimal regulator, are given to the steering torque assist mechanism (the steering device 20) and the right/left-wheel braking/driving force distribution mechanism (the right/left driving force distribution differential or the braking devices for the respective wheels) respectively as feedback input values.

(42) In the concrete configuration of the system including the driver in the art of driving support control according to the embodiment of the invention, referring to FIG. 2A, the driver first steers the steering wheel in consideration of the current state of the vehicle, for example, a lateral displacement amount yc, the yaw rate γ, a yaw angle ψ, a lateral speed Vy, a vehicle speed V and the like of the vehicle, such that a driver target displacement yd* that is determined based on the information found by the driver himself or herself is achieved. Thus, the steering angle θsw, a steering angular speed dθsw/dt, and the steering torque Td (the driver input torque) are given to the steering mechanism of the vehicle. It should be understood that the actual driver does not concretely determine the value of the driver target displacement yd* but determines a position desired to be reached through visual observation during driving, and steers the vehicle toward the position while following his or her own senses, and by the same token, that the actual driver does not take the current state of the vehicle into account not by referring to those values but through visual observation and physical sensation.

(43) On the other hand, the target lateral displacement (the mechanical target lateral displacement) Ys* from the target locus determination unit, index values (the vehicle motion index values) representing the current state of the vehicle such as the lateral displacement amount yc, the yaw rate γ, the yaw angle ψ, the lateral speed Vy (=dyc/dt), the vehicle speed V and the like of the vehicle, and also index values (the driving state index values) representing the current driving state of the driver such as the steering angle θsw, the steering angular speed dθsw/dt, the steering torque Td (the driver input steering torque) and the like are input to the assist control computer. The mechanical target lateral displacement Ys* (=yc*) is a value obtained from a target locus that is determined in such a manner as to optimally realize driving of the vehicle (e.g., which may be a favorable running route (a favorable future locus) that is set for a destination desired by the driver) using information on the periphery of the vehicle, for example, information on the position of a white line on the road, the presence or absence and positions of preceding vehicles and obstacles, the direction of extension of the road and the like obtained from a camera or the like, and information on a road line shape and the like of a route or a course obtained from a GPS device or the like, according to an arbitrary method, in the target locus determination unit. That is, the mechanical target lateral displacement Ys* is a target value of the motion of the vehicle in the control based on the mechanical input, which is determined regardless of the driver's steering. As will be described later, target values of the motion of the vehicle (vehicle motion target values) and target values of the driving state of the driver (driving state target values) for calculating controlled variables in steering torque assist control and braking/driving force distribution control for the right and left wheels, which are performed as driving support control, are further calculated from this mechanical target lateral displacement Ys*. Besides, the lateral displacement amount yc (and the target value yc* thereof) of the vehicle may be a lateral displacement of the vehicle from an arbitrarily set reference point, and the position of the vehicle may be used as the reference point (the lateral displacement amount yc is always equal to 0 in this case). Then, in an aspect that will be described later, the assist control computer calculates a steering assist torque input Ta (a target value of the steering assist torque) that is given in addition to the driver input torque Td, and the braking/driving force distribution input (the yaw moment) Mz (a target value of the difference in braking/driving force between the right and left wheels) corresponding to the difference in braking/driving force between the right and left wheels that should be generated by the right/left-wheel braking/driving force distribution mechanism, based on the foregoing pieces of input information. The assist control computer gives the calculated values to the steering mechanism and the right/left-wheel braking/driving force distribution mechanism of the vehicle respectively, as control commands.

(44) Configuration and Operation of Assist Control Computer

(45) Referring to FIG. 2B, in the assist control computer, the mechanical target lateral displacement Ys* that is given from the target locus determination unit, the steering angle θsw resulting from the driver's driving, the differential value dθsw/dt thereof and the steering torque (the driver input torque) Td as the driving state index values, and the yaw rate γ, the yaw angle, the lateral speed, the lateral position and the like in the vehicle as the vehicle motion index values are referred to, and the steering assist torque input Ta and the braking/driving force distribution input Mz for the right and left wheels, which are expressed by the expression (13) described above, are calculated. In this case, the driving characteristic values of the driver, the feedback gains, the vehicle motion target values, the driving state target values and the like are necessary. Therefore, the calculation of these values is also appropriately carried out. Incidentally, in actual control, the lateral displacement yc and the yaw angle ψ of the vehicle may be values that are measured from an arbitrarily set reference point and an arbitrarily set reference direction. The respective values are 0 when the reference point and the reference direction are set for the vehicle.

(46) In the assist control computer, more specifically, first in a normative driver/vehicle model unit, vehicle motion target values (γ* (=dψ/dt*), ψ*, yc*, Vy (=dyc/dt*)) and driving state target values (dθsw/dt*, θsw*, Td*) on the assumption that the mechanical target lateral displacement Ys* is achieved by carrying out driving as a norm are calculated, using an arbitrary model describing the response of the driver and the motion of the vehicle as a norm, with reference to the mechanical target lateral displacement Ys* and a series of the vehicle motion index values that are given from the target locus determination unit. Incidentally, a value equal to the mechanical target lateral displacement Ys* may usually be used as the lateral position target value yc*. Besides, in the normative driver/vehicle model unit, the normative driver may be assumed to carry out steering according to the forward gaze model. In this case, a steering gain h*, a first-order lag time constant Tn*, a forward gaze time Tp* of the driver who drives the vehicle ideally are arbitrarily set in advance and used as driving characteristic values of the normative driver. Besides, normative driving characteristic values are also used in a later-described process of updating the feedback gains.

(47) Besides, in a driver driving characteristic estimation unit in the assist control computer, estimation of the current driving characteristic values of the driver is carried out using the mechanical target lateral displacement Ys*, the vehicle motion index values, and the driving state index values. In concrete terms, for example, on the assumption that the driver's driving follows the forward gaze model, a steering gain h of the driver, a first-order lag time constant Tn and a forward gaze time Tp may be estimated using the foregoing expressions (4) and (5) and/or the relational expression (6). This estimation may be carried out according to an arbitrary method, for example, may be figured out through the fitting of the expression (6) using the current vehicle motion index values and the current driving state index values. Incidentally, the mechanical target lateral displacement Ys* may be substituted for the target lateral position yd* of the driver. This estimation of the driving characteristic values may be carried out on a timely basis or sequentially after the start of the driving of the vehicle. Thus, the current characteristics in the driver's driving can be reflected by the feedback gains.

(48) Next, in a feedback gain computation unit, the feedback gains K11 to K27 in the form of the expression (12) described above are calculated using the aforementioned estimated driving characteristic values and the vehicle motion characteristic values prepared in advance (the vehicle weight, the cornering power of the front wheels, the cornering power of the rear wheels and the like). Then, in a control target value calculation unit, the control target values, namely, the steering assist torque input Ta and the right/left-wheel braking/driving force distribution input Mz as state feedback input values are calculated through the use of the expression (13), using the feedback gains K11 to K27, the differences between the current vehicle motion index values and the vehicle motion target values and/or the differences between the current driving state index values and the driving state target values. Incidentally, in certain embodiments of the invention, all the differences between the vehicle motion index values and the vehicle motion target values are not absolutely required to be used in the expression (13). In state feedback control, the differences between the vehicle motion index values and the vehicle motion target values may be used especially as to only those vehicle motion index values which should be reliably converged. For example, when it is desirable to reliably converge only the lateral position of the vehicle to its target value, the steering assist torque Ta and the torque vectoring amount Mz may be computed according to an expression shown below.
Ta=−K11.Math.{dot over (ψ)}−K12.Math.ψ−K13.Math.{dot over (y)}c−K14(yc−yc*)−K15.Math.{dot over (θ)}sw−K16.Math.θsw−K17.Math.Td   [Formula 9]
Mz=−K21.Math.{dot over (ψ)}−K22.Math.ψ−K23.Math.{dot over (y)}c−K24(yc−yc*)−K25.Math.{dot over (θ)}sw−K26.Math.θsw−K27.Math.Td   (14)

(49) Thus, the aforementioned steering assist torque Ta and the aforementioned torque vectoring amount Mz are given to the steering mechanism of the vehicle and the right/left-wheel braking/driving force distribution mechanism of the vehicle respectively. Incidentally, the parameters corresponding to the terms in which the differences between the target values and the index values are not used in the aforementioned expression are also functions of the mechanical target lateral displacement Ys*. Therefore, the respective index values substantially follow their target values.

(50) Update of Feedback Gains

(51) It is favorable that the driving characteristic values used to compute the aforementioned feedback gains be as accurate as possible. In fact, however, the driving characteristics of the driver can change depending on changes in physical condition of the driver, the degree of fatigue of the driver, or the running environment of the vehicle. Accordingly, the feedback gains may be updated using the latest driving characteristic values that are estimated on a timely basis or sequentially during running of the vehicle. In regard to this point, the update of the feedback gains may be regularly carried out, for example, at intervals of a predetermined time. However, if the time interval is too short for changes in the driving characteristic values, the computation load becomes high. On the contrary, if the time interval is too long for changes in the driving characteristic values, the accuracy of the feedback gains decreases. Thus, in the aspect of the invention, changes in the differences between actually estimated driving characteristic values (estimated driving characteristic values) and the normative driving characteristic values may be detected, and the update, namely, the re-computation of the feedback gains may be carried out when the magnitudes of the differences between the estimated driving characteristic values and the normative driving characteristic values become large due to changes in the actual driving characteristic values.

(52) In evaluating the differences between the estimated driving characteristic values and the normative driving characteristic values, more specifically, for example, an evaluation function Q of a quadratic form of the differences between the estimated driving characteristic values (h, Tn, Tp) and the normative driving characteristic values (h*, Tn*, Tp*) as described below may be calculated, and the update of the feedback gains may be carried out using the most recently estimated driving characteristic values, when the magnitude of this evaluation function Q exceeds a predetermined threshold. Q=q.sub.h(h−h*).sup.2+q.sub.Tn(Tn−Tn*).sup.2+q.sub.Tp(Tp−Tp*).sup.2 . . . (15). It should be noted herein that q.sub.h, q.sub.Tn and q.sub.Tp are weight coefficients. When the magnitude of each of q.sub.h, q.sub.Tn and q.sub.Tp increases, the contribution of changes in a corresponding one of the driving characteristic values increases, so the sensitivity of the evaluation function Q to that driving characteristic value increases. The weight coefficients q.sub.h, q.sub.Tn and q.sub.Tp may be arbitrarily set. The weight coefficients q.sub.h, q.sub.Tn and q.sub.Tp may be constants, but may be variable depending on, for example, the peripheral environment of the vehicle, the driving time, the driver's driving habit and the like. Thus, the assist controller of FIG. 2B is provided with an update decision unit. The update decision unit may be configured to acquire the most recently estimated driving characteristic values (h*, Tn, Tp) from the driver driving characteristic estimation unit and the normative driving characteristic values (h*, Tn*, Tp*) from the normative driver/vehicle model unit, receive arbitrary information (environmental information) for adjusting the weight coefficients q.sub.h, q.sub.Tn and q.sub.Tp, such as information on the peripheral environment of the vehicle, the driving time, the driver's driving habit and the like, hence calculate the aforementioned evaluation function Q sequentially, and issue an instruction to update the feedback gains to the feedback gain computation unit when the evaluation function Q exceeds an arbitrarily set threshold.

(53) FIG. 3 schematically shows changes in the aforementioned evaluation function Q during driving of the vehicle. Incidentally, in the aforementioned evaluation function Q, the estimated driving characteristic values (h, Tn, Tp) are estimated using the vehicle driving index values and the driving state index values during driving of the vehicle as described already. Therefore, the estimated driving characteristic values during the performance of driving support control according to the invention are the driving characteristic values with driving supported through control. That is, the estimated driving characteristic values are not driving characteristic values peculiar to the driver but “apparent” driving characteristic values of the driver who receives driving support. Accordingly, during the performance of driving support control according to the invention, for a certain period immediately after the computation of the feedback gains through the use of the most recently estimated driving characteristic values, the driving characteristics that are realized in the vehicle are close to the driving characteristics of the normative driver model owing to the performance of the control in which the accurately estimated driving characteristic values are used, and the differences between the estimated driving characteristic values and the normative driving characteristic values are small. Thus, the value of the evaluation function Q is expected to be small. However, as exemplified in FIG. 3, when the driving characteristics of the driver change with the lapse of time, the estimated driving characteristic values change accordingly. As a result, the differences between the normative driving characteristic values and the estimated driving characteristic values become large, and the value of the evaluation function Q increases. Then, when the value of the evaluation function Q reaches the set threshold, the update of the feedback gains is carried out using the most recently estimated driving characteristic values (the first update). Then, the computation of the controlled variables of driving support control is carried out with the most recently estimated driving characteristic values. Therefore, the motion of the vehicle approaches the motion in the case of the normative driver model, the differences between the normative driving characteristic values and the estimated driving characteristic values decrease, and the value of the evaluation function Q is reduced. In this manner, the driving characteristics of the driver further change with the lapse of time after the evaluation function Q has decreased through the update of the feedback gains, changes in the estimated driving characteristic values and an increase in the evaluation function Q are caused. When the evaluation function Q reaches the set threshold again, the update of the feedback gains is carried out (the second update). Thus, the motion of the vehicle approaches the motion in the case of the normative driver model, and the value of the evaluation function Q is reduced. This series of changes in the evaluation function Q and the update of the feedback gains are repeated during the performance of driving support control in driving the vehicle.

(54) Incidentally, as regards the definition of the evaluation function of the magnitudes of the differences between the normative driving characteristic values and the estimated driving characteristic values, in the case where the evaluation function is defined as a function that decreases as the magnitudes of the differences between the normative driving characteristic values and the estimated driving characteristic values increase, the update of the feedback gains may be carried out when the evaluation function drops below a predetermined threshold.

(55) Promotion of Awareness of Driver

(56) By the way, the aforementioned changes in the estimated driving characteristic values often occur when the degree of change in the driving characteristics of the driver is large or drastic. In this case, the number of times the feedback gains are updated becomes large. This situation assumes a case where the driver does not feel well, a case where the running environment of the vehicle drastically changes, and the like. Thus, with a view to making the driver realize such a situation, in the invention, an awareness promotion that promotes the awareness of the driver, for example, displaying a warning, issuing an alarm etc. when the number of times the feedback gains are updated exceeds a predetermined number of times may be provided. In concrete terms, in the assist controller of FIG. 2B, the update decision unit may be configured to further count the number of times the feedback gains are updated, and send an instruction to promote awareness to an awareness promotion device when the counted number of times reaches a predetermined number of times. The awareness promotion device may be configured to issue an alarm to the driver upon receiving the instruction to promote awareness. The alarm may be issued in the form of a sound, a sign on a display or the like. According to this configuration, the driver can grasp the degree of change in the response characteristics in his or her own driving. Therefore, there is an advantage in that the security during running of the vehicle can be enhanced.

(57) Besides, the information on the number of times the feedback gains are updated can be leveraged for driving behavioral analysis. For example, when the number of times the feedback gains are updated is small in the city streets but large on freeways as to a certain driver, it is possible to analyze that the driving characteristics are likely to change on freeways. The driver may be notified of such a result.

(58) Thus, in the aforementioned driving support control apparatus according to the embodiment of the invention, the structure that gives a response of the motion of the vehicle and the structure that gives a response in the driver's driving are considered to be an integral system, and the theory of the optimal regulator is applied to the system to determine and realize the target value of the steering assist torque and the target value of the difference in braking/driving force between the right and left wheels as state feedback inputs. According to this configuration, as mentioned already, the controlled variables that are given as state feedback inputs are calculated in consideration of the response in the driver's driving. Therefore, in the process of realizing the target state required through the mechanical input, the deviation between the motion of the vehicle according to the controlled variables and the motion of the vehicle intended in the driver's steering is expected to be smaller than in the case where the controlled variables are treated as a disturbance without taking the response in the driver's driving into account. That is, in driving support control according to the embodiment of the invention, in the process of realizing the target state required through the mechanical input, the deviation between the driver's steering and mechanical control (steering torque assist control and right/left-wheel braking/driving force distribution control) is reduced, and an attempt is made to reduce the feeling of strangeness developed by the driver for the control operation.

(59) The foregoing has been described in association with the embodiment of the invention, but many corrections and alterations can be easily carried out by those skilled in the art. The invention is not limited only to the embodiment thereof exemplified above. It would be obvious that the invention is applied to various apparatuses without departing from the concept thereof.