Motion control device of vehicle
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Accused Products
Abstract
In the case where the absolute value of steering angle θs is equal to or greater than a prescribed angle, a motion control apparatus 10 for a vehicle sets a control gear ratio n in such a manner that when an estimated vehicle-body speed Vso is equal to or greater than a prescribed value, the control gear ratio n becomes a value which is equal to or greater than “20” and which increases with the estimated vehicle-body speed Vso as the absolute value of the steering angle θs increases, and when the estimated vehicle-body speed Vso is less than the prescribed value, the control gear ratio n becomes a value which is not greater than “20” and which decreases with the estimated vehicle-body speed Vso as the absolute value of the steering angle θs increases. The apparatus then calculates a target yaw rate Yrt by making use of an equation shown in Step 510 and using the control gear ratio n, and controls a braking force applied to each wheel so that the actual yaw rate Yr coincides with the target yaw rate Yrt.
33 Citations
12 Claims
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1-2. -2. (canceled)
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3. A motion control apparatus for a vehicle comprising:
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vehicle-body speed obtaining means for obtaining a vehicle-body speed of the vehicle;
steering-member operating amount obtaining means for obtaining an operating amount of a steering member of the vehicle which changes a steering angle of steerable wheels of the vehicle;
actual lateral acceleration related quantity obtaining means for obtaining, as an actual lateral acceleration related quantity, an actual value of a lateral acceleration related quantity indicating the extent of turning of the vehicle;
target lateral acceleration related quantity calculating means for calculating a target lateral acceleration related quantity which is a target value of the lateral acceleration related quantity in accordance with the vehicle-body speed, in such a manner that when the vehicle-body speed is at least a prescribed value, the absolute value of the target lateral acceleration related quantity is equal to or less than the absolute value of a reference lateral acceleration related quantity which is a reference value of the lateral acceleration related quantity determined by a prescribed rule based on at least the vehicle-body speed and the steering-member operating amount and when the vehicle-body speed is less than the prescribed value, the absolute value of the target lateral acceleration related quantity is greater than or equal to the absolute value of the reference lateral acceleration related quantity; and
braking force control means for controlling a braking force applied to each of front and rear wheels of the vehicle so that the actual lateral acceleration related quantity approaches the target lateral acceleration related quantity. - View Dependent Claims (4, 5, 10)
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6. A motion control apparatus for a vehicle comprising:
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vehicle-body speed obtaining means for obtaining a vehicle-body speed of the vehicle;
steering-member operating amount obtaining means for obtaining an operating amount of a steering member of the vehicle which changes a steering angle of steerable wheels of the vehicle;
actual lateral acceleration related quantity obtaining means for obtaining, as an actual lateral acceleration related quantity, an actual value of a lateral acceleration related quantity indicating the extent of turning of the vehicle;
target lateral acceleration related quantity calculating means for calculating a target lateral acceleration related quantity which is a target value of the lateral acceleration related quantity, in such a manner that the absolute value of the target lateral acceleration related quantity is equal to or less than the absolute value of a reference lateral acceleration related quantity which is a reference value of the lateral acceleration related quantity determined by a prescribed rule based on at least the vehicle-body speed and the steering-member operating amount; and
braking force control means for controlling a braking force applied to each of front and rear wheels of the vehicle so that the actual lateral acceleration related quantity approaches the target lateral acceleration related quantity. - View Dependent Claims (7, 8, 9, 11, 12)
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Specification