Vehicle-behavior control apparatus and method

• US 20030102713A1
• Filed: 01/03/2003
• Published: 06/05/2003
• Est. Priority Date: 06/08/1999
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Murakami, Zensaku
• Granted Patent: US 6,702,717 B2
• Time in Patent Office: Days
• US Class Current: 303/146
• CPC Class Codes: B60T 2201/14 Electronic locking-differential
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/241 Lateral vehicle inclination
• CPC Class Codes: B60T 8/246 Change of direction
• CPC Class Codes: B60T 8/322 Systems specially adapted for vehicles driven by more than one axle, e.g. Four Wheel-Drive vehicles
• CPC Class Codes: B60T 8/4827 in hydraulic brake systems
• CPC Class Codes: B60W 2510/125 Locking status
• CPC Class Codes: B60W 30/045 Improving turning performance

Abstract

A vehicle-behavior control apparatus for a vehicle with a center differential comprising of a control unit adopted to be connected to a braking system and vehicle status sensors. This control unit directs the braking system to distribute suitable braking force to each wheels in response to a spin or driftout moment determined by any outputs of the vehicle sensors and a state of the center differential determined by a differential state sensor.

Claims

1. A vehicle-behavior control apparatus for a vehicle having front wheels and rear wheels with a differential mechanism, comprising:

brake mechanisms provided for each of the respective front wheels and rear wheels and applying a braking force to a corresponding wheel; and

a braking force control means for calculating target braking forces for each wheel to be applied by the brake mechanisms in accordance with a turning behavior state of the vehicle, and controlling the brake mechanisms to generate the target braking forces on each front wheel and rear wheel,

wherein the braking force control means corrects the target braking forces when the differential mechanism is in a differential limited state to block differential action thereof, corrected target braking forces are calculated from the target braking forces on the precondition that the differential mechanism is not in a differential limited state.

2. The vehicle-behavior control apparatus according to claim 1, wherein correction factors used in correction of the target braking forces depend on a turning behavior state of the vehicle.

3. The vehicle-behavior control apparatus according to claim 1, wherein the differential mechanism is a center differential for distributing the driving force to the front wheels and to the rear wheels.

4. The vehicle-behavior control apparatus according to claim 3, wherein the braking force control means applies an excess braking force to a front outside wheel.

5. A vehicle-behavior control apparatus for a vehicle having front wheels and rear wheels with a center differential, comprising:

a control unit adopted to be connected to a braking system and vehicle status sensors to calculate target breaking forces for each front wheel and rear wheel, the braking force to be applied by a braking system in response to a spin or driftout moment determined by any outputs of the vehicle sensors, and to direct the braking system to generate the target breaking forces on each front wheel and rear wheel,

wherein the control unit corrects the target braking forces when the center differential is in a differential limited state to block differential action thereof, corrected target braking forces are calculated from the target braking forces on a precondition that the center differential is not in a differential limited state.

6. The vehicle-behavior control apparatus according to claim 5, wherein correction factors used in correction of the target braking forces depend on a turning behavior state of the vehicle.

7. The vehicle-behavior control apparatus according to claim 5, wherein the control unit directs the braking system to apply an excess braking force to a front outside wheel.

8. A vehicle-behavior control method for a vehicle having front wheels, rear wheels, a center differential and a braking system with a braking force distribution control unit, comprising:

estimating a spin and driftout moment of the vehicle and determining a lock state of the center differential;

calculating target breaking forces applied to each front wheel and rear wheel by said braking system in response to the spin and driftout moment when the center differential is in a free state;

correcting each of the target breaking forces based on obtained target breaking forces in the free state of the center differential if the center differential is lock state; and

controlling braking force distributions so as to generate target breaking forces.

9. The vehicle-behavior control method according to claim 8, wherein an excess braking force to the front outside wheel is applied when the spin or driftout moment exceeds respective threshold values.