Vehicle Attitude Control Apparatus
First Claim
1. A vehicle attitude control apparatus provided with four actuators which independently drive four wheels suspended on a vehicle body by a suspension apparatus and capable of controlling vehicle running attitude through the independent control of driving torques generated by the four actuators, the vehicle attitude control apparatus comprising:
- roll detecting means that detects a roll of a vehicle; and
driving torque control means that produces a difference to the driving torques generated by the four actuators in accordance with the detected vehicle roll to thereby apply to the vehicle body force in the direction opposite to the roll.
1 Assignment
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Accused Products
Abstract
A vehicle attitude control apparatus has suspensions Sfl, Srl, Sfr, and Srr that suspend each of front-left, rear-left, front-right and rear-right wheels Wfl, Wrl, Wfr, and Wrr; electric motors 21, 22, 23 and 24 that independently drive each of four wheels; lateral acceleration sensor 31; and controller 32. The controller 32 calculates the roll angle and roll direction of a vehicle body BD by using the detected lateral acceleration. Further, the controller 32 increases or decreases the driving torques generated by the electric motors 21 to 24 by a driving torque changing amount in accordance with the calculated roll angle and roll direction. With the increase or decrease in the driving torques generated by the electric motors 21 to 24 by the driving torque changing amount, downward force is generated on the vehicle body moving up upon the vehicle roll (at respective instant centers determined by the suspensions at the side where the vehicle body moves up), and upward force is generated on the vehicle body moving down upon the vehicle roll (at respective instant centers determined by the suspensions at the side where the vehicle body moves down).
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Citations
5 Claims
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1. A vehicle attitude control apparatus provided with four actuators which independently drive four wheels suspended on a vehicle body by a suspension apparatus and capable of controlling vehicle running attitude through the independent control of driving torques generated by the four actuators, the vehicle attitude control apparatus comprising:
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roll detecting means that detects a roll of a vehicle; and
driving torque control means that produces a difference to the driving torques generated by the four actuators in accordance with the detected vehicle roll to thereby apply to the vehicle body force in the direction opposite to the roll. - View Dependent Claims (2, 3, 4, 5)
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Specification