MOTION CONTROL DEVICE FOR VEHICLE

• US 20100268420A1
• Filed: 03/24/2010
• Published: 10/21/2010
• Est. Priority Date: 04/15/2009
• Status: Active Grant

• Current Assignee: Advics Company Limited (Aisin Corp.)
• Original Assignee: Advics Company Limited (Aisin Corp.)
• Inventors: Yasutake, Toshio, Ikematsu, Atsushi, Kato, Toshihisa, YASUI, Yoshiyuki
• Granted Patent: US 8,892,305 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/17555 specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies

Abstract

A motion control device for a vehicle, including a braking means for applying a brake torque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control device for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a yaw angular acceleration obtaining means for obtaining a yaw angular acceleration of the vehicle, and a control means for controlling the brake torque on the basis of the steering angular velocity and the yaw angular acceleration.

Claims

1. A motion control device for a vehicle, including a braking means for applying a brake torque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control device for the vehicle, comprising:

a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle;

a yaw angular acceleration obtaining means for obtaining a yaw angular acceleration of the vehicle; and

a control means for controlling the brake torque on the basis of the steering angular velocity and the yaw angular acceleration.

2. The motion control device for the vehicle according to claim 1, wherein the control means applies the brake torque to the wheel in a case where the steering angular velocity is greater than a first predetermined value and where the yaw angular acceleration is greater than a second predetermined value.

3. The motion control device for the vehicle according to claim 1 further comprising a steering angle obtaining means for obtaining a steering angle of the vehicle, wherein the control means applies the brake torque to the wheel on the basis of the steering angular velocity obtained in a case where the steering angle increases and the yaw angular acceleration obtained in the case where the steering angle increases.

4. The motion control device for the vehicle according to claim 1 further comprising a steering angle obtaining means for obtaining a steering angle of the vehicle, wherein the control means applies the brake torque to the wheel on the basis of the steering angular velocity obtained in a case where the steering angle decreases and the yaw angular acceleration obtained in a case where the steering angle decreases.

5. The motion control device for the vehicle according to claim 4, wherein the control means applies the brake torque to the wheel in a case where the steering angle is smaller than a third predetermined value.

6. The motion control device for the vehicle according to claim 1 further comprising a steering angle obtaining means for obtaining a steering angle of the vehicle and a steering direction determining means for determining whether a steering direction of the vehicle corresponds to a first direction or a second direction, on the basis of the steering angle, wherein the control means applies the brake torque to the wheel on the basis of the steering angular velocity obtained in a case where the steering direction is determined to correspond to the first direction and then sequentially to the second direction and where the steering angle increases and on the basis of the yaw angular acceleration obtained in the case where the steering angle increases.

7. The motion control device for the vehicle according to claim 6, wherein the control means applies the brake torque to the wheel in a case where the steering angle is smaller than a fourth predetermined value.

8. The motion control device for the vehicle according to claim 1 further comprising an actual lateral acceleration obtaining means for obtaining an actual lateral acceleration of the vehicle, wherein the control means sets the second predetermined value on the basis of the actual lateral acceleration,

9. The motion control device for the vehicle according to claim 1 further comprising an actual lateral acceleration obtaining means for obtaining an actual lateral acceleration of the vehicle, wherein the control means applies the brake torque to the wheel in a case where the actual lateral acceleration is greater than a fifth predetermined value.

10. A motion control device for a vehicle, including a braking means for applying a brake torque to a wheel of the vehicle, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle and a first recognizing means for calculating a first state quantity on the basis of the actual turning state quantity and recognizing whether or not the vehicle is in an oversteering tendency on the basis of the first state quantity and for maintaining a traveling stability of the vehicle by controlling the brake torque via the braking means on the basis of a recognition result of the first recognizing means, the motion control device for the vehicle, comprising;

a second recognizing means for calculating a second state quantity, which differs from the first state quantity, on the basis of the actual turning state quantity and recognizing whether or not the vehicle is in the oversteering tendency on the basis of the second state quantity;

a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle; and

a control means for controlling the brake torque on the basis of a recognition result of the second recognizing means and the steering angular velocity.

11. The motion control device for the vehicle according to claim 10, wherein the control means applies the brake torque to the wheel in a case were the steering angular velocity is greater than a first predetermined value and the recognition result of the second recognizing means indicates a positive determination of the oversteering tendency.

12. The motion control device for the vehicle according to claim 10, wherein the second recognizing means recognizes a relatively fast yawing motion of the vehicle comparing to a yawing motion to be recognized by the first recognizing means.

13. The motion control device for the vehicle according to claim 10, wherein the first recognizing means calculates the first state quantity on the basis of an interrelation between a state quantity indicating a magnitude of the yawing motion of the vehicle and a state quantity indicating a speed of the yawing motion of the vehicle, and the second recognizing means calculates the second state quantity on the basis of only the state quantity indicating the speed of the yawing motion of the vehicle,

14. The motion control device for the vehicle according to claim 10 further comprising a steering angle obtaining means for obtaining a steering angle of the vehicle, wherein the control means applies the brake torque to the wheel in a case where the steering angle decreases and where the steering angle is smaller than a second predetermined value,

15. The motion control device for the vehicle according to claim 10 further comprising a steering angle obtaining means for obtaining a steering angle of the vehicle and a steering direction determining means for determining whether a steering direction of the vehicle corresponds to a first direction or a second direction on the basis of the steering angle, wherein the control means applies the brake torque to the wheel in a case where the steering direction determining means determines that the steering direction of the vehicle corresponds to the first direction, then sequentially, determines that the second steering direction of the vehicle corresponds to the second direction, the steering angle increases and where the steering angle is smaller than a third predetermined value.

16. The motion control device for the vehicle according to claim 10 further comprising a yaw angular acceleration obtaining means for calculating a yaw angular acceleration on the basis of the actual turning state quantity, wherein the control means applies the brake torque to the wheel in a case where the yaw angular acceleration is greater than a fourth predetermined value.

17. A motion control device for a vehicle including an actual yaw rate obtaining means for obtaining an actual yaw rate of the vehicle and a braking means for applying a brake torque to a wheel of the vehicle, and maintaining a traveling stability of the vehicle by controlling the brake torque via the braking means on the basis of the actual yaw rate, the motion control device for the vehicle, comprising:

a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle;

a determining means for determining a reference lateral acceleration on the basis of the steering angular velocity;

an actual lateral acceleration obtaining means for obtaining an actual lateral acceleration acting on the vehicle; and

a control means for applying the brake torque to the wheel in a case where the actual lateral acceleration exceeds the reference lateral acceleration.

18. The motion control device for the vehicle according to claim 17 further comprising a maximum steering angular velocity calculating means for calculating a maximum steering angular velocity on the basis of the steering angular velocity, wherein the control means determines the reference lateral acceleration on the basis of the maximum steering angular velocity.

19. The motion control device for the vehicle according to claim 17 further comprising a steering angle obtaining means for obtaining a steering angle of the vehicle and a first estimating means for calculating a first estimated lateral acceleration on the basis of the steering angle, wherein the determining means applies the brake torque to the wheel in a case where the first estimated lateral acceleration exceeds the reference lateral acceleration,

20. The motion control device for the vehicle according to claim 17 further comprising a second estimating means for calculating a second estimated lateral acceleration on the basis of the actual yaw rate, wherein the determining means applies the brake torque to the wheel in a case where the second estimated lateral acceleration exceeds the reference lateral acceleration,

21. The motion control device for the vehicle according to claim 17 further comprising a yaw angular acceleration calculating means for calculating a yaw angular acceleration on the basis of the actual yaw rate, wherein the control means applies the brake torque to the wheel in a case where the yaw angular acceleration exceeds a predetermined value.