Motion control system for vehicle based on jerk information

• US 20090192675A1
• Filed: 05/15/2008
• Published: 07/30/2009
• Est. Priority Date: 05/18/2007
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi, Ltd.
• Inventors: Imura, Shinya, Yamakado, Makoto, Abe, Masato
• Granted Patent: US 7,979,180 B2
• Time in Patent Office: Days
• US Class Current: 701/38
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/04 Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
• 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: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 40/064 Degree of grip
• CPC Class Codes: B60W 40/103 Side slip angle of vehicle body

Abstract

In a motion control system for a vehicle including control means for controlling a yaw moment of the vehicle; first detection means for detecting a longitudinal velocity (V) of the vehicle; second detection means for detecting a lateral jerk (Gy_dot) of the vehicle; and third detection means for detecting a yaw angular acceleration (r_dot) of the vehicle, the yaw moment of the vehicle is controlled by the control means so that a difference between the yaw angular acceleration (r_dot) detected by the third detection means and a value (Gy_dot/V) obtained by the lateral jerk (Gy_dot) of the vehicle detected by the second detection means by the longitudinal velocity (V) detected by the first detection means becomes small.

Claims

1. A motion control system for a vehicle comprising:

control means for controlling a yaw moment of the vehicle;

first detection means for detecting a longitudinal velocity (V) of the vehicle; and

second detection means for detecting a lateral jerk (Gy_dot) of the vehicle,

wherein the yaw moment of the vehicle is controlled on the basis of a value (Gy_dot/V) obtained by dividing the lateral jerk (Gy_dot) of the vehicle detected by the second detection means by the longitudinal velocity (V) of the vehicle detected by the first detection means.

2. The motion control system according to claim 1, further comprising:

third detection means for detecting a yaw angular acceleration (r_dot) of the vehicle,

wherein the yaw moment of the vehicle is controlled by the control means so that a difference between the yaw angular acceleration (r_dot) of the vehicle detected by the third detection means and the value (Gy_dot/V) obtained by dividing the lateral jerk (Gy_dot) of the vehicle by the longitudinal velocity (V) of the vehicle becomes small.

3. The motion control system according to claim 1, wherein the control means for controlling the yaw moment of the vehicle controls a difference between lateral forces of front and rear wheels by varying a sideslip angle of each wheel of the vehicle.

4. The motion control system according to claim 1, wherein the control means for controlling the yaw moment of the vehicle generates a difference between drive forces or brake forces of left and right wheels by varying a longitudinal slip ratio of each wheel of the vehicle.

5. The motion control system according to claim 1, wherein the control means for controlling the yaw moment of the vehicle varies a longitudinal slip ratio of each wheel of the vehicle to generate a longitudinal force in a state where a lateral acceleration acts on the vehicle so that a longitudinal force of a load movement from a rear wheel to a front wheel or from the front wheel to the rear wheel is generated to vary a difference between lateral forces of the front and rear wheels.

6. A motion control system for a vehicle comprising:

first detection means for detecting a longitudinal velocity (V) of the vehicle;

second detection means for detecting a lateral acceleration (Gy) of the vehicle; and

third detection means for detecting a yaw rate (rotation angular velocity) of the vehicle,

wherein a lateral jerk (Gy_dot) of the vehicle is obtained by differentiating the lateral acceleration (Gy) detected by the second detection means,

wherein a value (Gy_dot/V=r_ref) is calculated by dividing the lateral jerk (Gy_dot) of the vehicle by the longitudinal speed (V) of the vehicle detected by the first detection means,

wherein a yaw angular acceleration (r_real) is calculated by differentiating the yaw rate detected by the third detection means,

wherein a correction yaw moment is obtained on the basis of a difference between the (r_ref) and the (r_real), and

wherein the yaw moment applied to the vehicle is controlled on the basis of the correction yaw moment using one or a combination of a yaw moment addition by a steering operation, a yaw moment addition by left and right differential brake and drive input, and a yaw moment addition by a vertical load transfer from a front wheel to a rear wheel.

7. A motion control system for a vehicle comprising:

control means for controlling a longitudinal acceleration of the vehicle;

first detection means for detecting a longitudinal velocity (V) of the vehicle; and

second detection means for detecting a lateral jerk (Gy_dot) of the vehicle,

wherein the longitudinal acceleration of the vehicle is controlled on the basis of a value (Gy_dot/V) obtained by dividing the lateral jerk (Gy_dot) of the vehicle detected by the second detection means by the longitudinal velocity (V) of the vehicle detected by the first detection means.

8. The motion control system according to claim 7, further comprising:

third detection means for detecting a lateral acceleration (Gy) of the vehicle,

wherein the lateral jerk (Gy_dot) of the vehicle is obtained on the basis of the lateral acceleration (Gy) detected by the third detection means, and

wherein the longitudinal acceleration of the vehicle is controlled on the basis of a physical value proportional to a value obtained by dividing the value (Gy_dot/V), obtained by dividing the lateral jerk (Gy_dot) of the vehicle by the longitudinal velocity (V) of the vehicle detected by the first detection means, by the lateral acceleration (Gy) of the vehicle detected by the third detection means.

9. A motion control system for a vehicle comprising:

control means for controlling a longitudinal acceleration of the vehicle; and

detection means for detecting a lateral jerk (Gy_dot) of the vehicle,

wherein the longitudinal acceleration of the vehicle is controlled on the basis of the lateral jerk (Gy_dot) of the vehicle detected by the detection means.

10. The motion control system according to claim 9, wherein the control is carried out so that the longitudinal acceleration of the vehicle becomes close to a value obtained by multiplying the lateral jerk (Gy_dot) of the vehicle by a coefficient.