Vehicle motion control device
First Claim
1. A vehicle motion control device comprising:
- roll angle occurrence tendency index obtaining means for obtaining an excessive roll angle occurrence tendency index value that indicates a degree of tendency that an excessive roll angle occurs on the vehicle;
roll-over preventing control means that exerts roll-over preventing braking force, that is for generating a yawing moment on the vehicle in the direction opposite to the turning direction of the vehicle, on a predetermined wheel of the vehicle, when the vehicle is in the turning state and the degree of tendency that the excessive roll angle occurs, that is indicated by the obtained excessive roll angle occurrence tendency index value, exceeds a predetermined degree;
understeer tendency index obtaining means for obtaining an understeer tendency index value that indicates a degree of understeer tendency in the turning state of the vehicle; and
understeer restraining control means that exerts understeer restraining braking force, that is for generating a yawing moment on the vehicle in the direction same as the turning direction of the vehicle, on a predetermined other wheel of the vehicle, when the degree of understeer tendency, that is indicated by the obtained understeer tendency index value, exceeds a predetermined degree, wherein the roll-over preventing braking force by the roll-over preventing control means and the understeer restraining braking force by the understeer restraining control means can simultaneously be exerted, this device further comprising understeer restraining braking force setting means that sets the understeer restraining braking force such that the understeer restraining braking force of when the degree of the understeer tendency is the same becomes smaller in case where the roll-over preventing braking force and the understeer restraining braking force can simultaneously be exerted, compared to the case where the roll-over preventing braking force is not exerted but the understeer restraining braking force is exerted.
1 Assignment
0 Petitions
Accused Products
Abstract
This device sets, upon executing only a roll-over preventing control, roll-over preventing braking force exerted on a front wheel at the outer side of the turning direction based upon a table value obtained through an absolute value |Gy| of an actual lateral acceleration and a predetermined table, and sets, upon executing only an US restraining control, US restraining braking force exerted on a rear wheel at the inner side of the turning direction based upon a table value obtained through an absolute value |ΔGy| of a lateral acceleration deviation, that is a deviation between a target lateral acceleration and the actual lateral acceleration, and a predetermined table. In case where the roll-over preventing control and the US restraining control are simultaneously executed, the roll-over preventing braking force is similarly set and the US restraining braking force is set based upon a value obtained by multiplying the value based upon the table value by a predetermined US restraining braking force damping factor α(0≦α≦1), thereby giving priority to the roll-over preventing control.
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Citations
7 Claims
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1. A vehicle motion control device comprising:
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roll angle occurrence tendency index obtaining means for obtaining an excessive roll angle occurrence tendency index value that indicates a degree of tendency that an excessive roll angle occurs on the vehicle;
roll-over preventing control means that exerts roll-over preventing braking force, that is for generating a yawing moment on the vehicle in the direction opposite to the turning direction of the vehicle, on a predetermined wheel of the vehicle, when the vehicle is in the turning state and the degree of tendency that the excessive roll angle occurs, that is indicated by the obtained excessive roll angle occurrence tendency index value, exceeds a predetermined degree;
understeer tendency index obtaining means for obtaining an understeer tendency index value that indicates a degree of understeer tendency in the turning state of the vehicle; and
understeer restraining control means that exerts understeer restraining braking force, that is for generating a yawing moment on the vehicle in the direction same as the turning direction of the vehicle, on a predetermined other wheel of the vehicle, when the degree of understeer tendency, that is indicated by the obtained understeer tendency index value, exceeds a predetermined degree, wherein the roll-over preventing braking force by the roll-over preventing control means and the understeer restraining braking force by the understeer restraining control means can simultaneously be exerted, this device further comprising understeer restraining braking force setting means that sets the understeer restraining braking force such that the understeer restraining braking force of when the degree of the understeer tendency is the same becomes smaller in case where the roll-over preventing braking force and the understeer restraining braking force can simultaneously be exerted, compared to the case where the roll-over preventing braking force is not exerted but the understeer restraining braking force is exerted. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification