Apparatus and method for controlling vehicular motion
First Claim
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1. A vehicular motion control apparatus comprising:
- a detection portion for detecting lengthwise forces respectively acting on left wheel and right wheel of a vehicle;
a calculation portion for calculating a present value of a moment around a vertical line passing through the center of gravity of the vehicle based on the detected lengthwise forces, the moment being produced around the vehicle due to a difference in a driving force between the left wheel and right wheel;
a setting portion for identifying a steering angle of said wheel varying state of motion of the vehicle such that said moment produced around the vehicle approaches 0 from the calculated present value and setting the identified steering angle of said wheel as a target steering angle of said wheel; and
a wheel control portion for controlling the steering angle of said wheel based on the set target steering angle.
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Abstract
Based on the detected lengthwise forces Fx, a moment M around a vertical line passing through the center of gravity of the vehicle is calculated, the moment being produced around the vehicle by a difference between the driving forces acting on the left and right wheels. A steering angle δf of the wheel varying the state of motion of the vehicle is identified so as to reduce the calculated moment M. This steering angle δf is set as a target steering angle δf*. Based on the set target steering angle δf*, the steering angle of the wheel is controlled.
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Citations
5 Claims
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1. A vehicular motion control apparatus comprising:
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a detection portion for detecting lengthwise forces respectively acting on left wheel and right wheel of a vehicle;
a calculation portion for calculating a present value of a moment around a vertical line passing through the center of gravity of the vehicle based on the detected lengthwise forces, the moment being produced around the vehicle due to a difference in a driving force between the left wheel and right wheel;
a setting portion for identifying a steering angle of said wheel varying state of motion of the vehicle such that said moment produced around the vehicle approaches 0 from the calculated present value and setting the identified steering angle of said wheel as a target steering angle of said wheel; and
a wheel control portion for controlling the steering angle of said wheel based on the set target steering angle. - View Dependent Claims (2, 3, 4)
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5. A method of controlling motion of a vehicle, said method comprising:
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a first step of detecting lengthwise forces respectively acting on left wheel and right wheel mounted to the vehicle;
a second step of calculating a present value of a moment around a vertical line passing through the center of gravity of the vehicle based on the detected lengthwise forces, the moment being produced around the vehicle by a difference between driving forces respectively acting on the left wheel and right wheel;
a third step of identifying a steering angle of said wheels varying state of motion of the vehicle such that said moment produced around the vehicle approaches 0 from the calculated present value and setting the identified steering angle as a target steering angle; and
a fourth step of controlling the steering angle of said wheel based on the set target steering angle.
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Specification