Driving control device and methods for vehicle
First Claim
1. A driving control device for a vehicle comprising:
- a first controller that controls a steering angle of each wheel;
a second controller that controls a braking and driving force of each wheel;
a first detector that detects a steering operation amount by a driver of the vehicle;
a second detector that detects a driving operation amount by the driver;
a third detector that detects a braking operation amount by the driver;
a first calculator that calculates a vehicle target longitudinal force, a vehicle target lateral force, and a vehicle target yaw moment based on the detected steering operation amount, the detected driving force operation amount, and the detected braking force operation amount;
a second calculator that calculates a target generating force of each wheel based on the target longitudinal force, the target lateral force, and the target yaw moment;
a third calculator that calculates a target steering angle and target braking and driving torque based on the target generating force of each wheel; and
a third controller that controls the first and second controllers so that a steering angle and the braking and driving torque of each wheel are determined to be the target steering angle and the target braking and driving torque respectively.
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Accused Products
Abstract
A driving control device and methods including controllers for independently controlling a steering angle, and braking and driving force of each wheel. The device includes detectors that detect driver input including a steering operation amount, a driving force operation amount, and a braking force operation amount. Moreover, the device includes calculators that calculate a vehicle target longitudinal and lateral force, and a vehicle target yaw moment based on the inputs by the driver, a target generating force of each wheel based on the detected amounts, and a target steering angle and target braking and driving torque of each wheel based on the target generating force of each wheel. Finally, a controller controls the device so that a steering angle and the braking and driving torque of each wheel are determined to be the target steering angle and the target braking and driving torque.
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Citations
47 Claims
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1. A driving control device for a vehicle comprising:
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a first controller that controls a steering angle of each wheel;
a second controller that controls a braking and driving force of each wheel;
a first detector that detects a steering operation amount by a driver of the vehicle;
a second detector that detects a driving operation amount by the driver;
a third detector that detects a braking operation amount by the driver;
a first calculator that calculates a vehicle target longitudinal force, a vehicle target lateral force, and a vehicle target yaw moment based on the detected steering operation amount, the detected driving force operation amount, and the detected braking force operation amount;
a second calculator that calculates a target generating force of each wheel based on the target longitudinal force, the target lateral force, and the target yaw moment;
a third calculator that calculates a target steering angle and target braking and driving torque based on the target generating force of each wheel; and
a third controller that controls the first and second controllers so that a steering angle and the braking and driving torque of each wheel are determined to be the target steering angle and the target braking and driving torque respectively. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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25. A driving control method for a vehicle comprising:
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detecting a steering operation amount by a driver of the vehicle;
detecting a driving operation amount by the driver;
detecting a braking operation amount by the driver, calculating a vehicle target longitudinal force, a vehicle target lateral force, and a vehicle target yaw moment based on the detected steering operation amount, the detected driving force operation amount, and the detected braking force operation amount;
calculating a target generating force of each wheel based on the target longitudinal force, the target lateral force, and the target yaw moment;
calculating a target steering angle and target braking and driving torque based on the target generating force of each wheel; and
controlling a steering angle and the braking and driving torque of each wheel of the vehicle to be the target steering angle and the target braking and driving torque respectively.
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Specification