Apparatus for controlling motion of vehicle

• US 20110196579A1
• Filed: 01/31/2011
• Published: 08/11/2011
• Est. Priority Date: 02/08/2010
• Status: Active Grant

• Current Assignee: Advics Company Limited (Aisin Corp.), DENSO Corporation
• Original Assignee: Advics Company Limited (Aisin Corp.), DENSO Corporation
• Inventors: Ogata, Yoshihisa, Tokumochi, Daisuke, Tokimasa, Mitsuhiro, Takeda, Masayoshi, Hanzawa, Masatoshi
• Granted Patent: US 8,694,209 B2
• Time in Patent Office: Days
• US Class Current: 701/48
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.

Claims

1. A vehicle motion controlling apparatus which controls a turning motion of a vehicle, comprising:

a control allocating unit that receives a selection of a steering control mainly performed for a vehicle turning motion or a selection of a braking control mainly performed for the vehicle turning motion, receives a desired value of the vehicle turning motion, allocates the steering control and the braking control for the vehicle turning motion, determines a main requested value of a controlled variable, indicating the vehicle turning motion, such that the main requested value of the controlled variable is achievable in the steering control in case of the selection of the steering control or is achievable in the braking control in case of the selection of the braking control, and determines a non-main requested value of the controlled variable, corresponding to a difference between the desired value of the vehicle turning motion and the main requested value of the controlled variable;

an assist torque setting unit that sets a specific assist torque corresponding to either the main requested value of the controlled variable in case of the selection of the steering control or the non-main requested value of the controlled variable in case of the selection of the braking control to generate the specific assist torque in a steering control performing unit which performs the steering control to assist a change of a steering angle of the vehicle at the specific assist torque; and

a braking torque setting unit that sets a specific braking torque corresponding to either the main requested value of the controlled variable in case of the selection of the braking control or the non-main requested value of the controlled variable in case of the selection of the steering control to generate the specific braking torque in a braking control performing unit which performs the braking control to apply a braking force corresponding to the specific braking torque to a wheel of the vehicle.

2. The apparatus according to claim 1, wherein the control allocating unit determines the main requested value corresponding to a limit of the assist torque, which is controllably generated in the steering control performing unit, incase of the selection of the steering control, and determines the main requested value corresponding to a limit of the braking torque, which is controllably generated in the braking control performing unit, in case of the selection of the braking control.

3. The apparatus according to claim 1, wherein the steering control performing unit has a first response delay so as to generate the assist torque by a value corresponding to a first normative value of the controlled variable in response to the main requested value in case of the selection of the steering control or in response to the non-main requested value in case of the selection of the braking control, the braking control performing unit has a second response delay so as to generate the braking torque of a value corresponding to a second normative value of the controlled variable in response to the main requested value in case of the selection of the braking control or in response to the non-main requested value in case of the selection of the steering control, the assist torque setting unit comprises:

a first norm setting part that sets the first normative value of the controlled variable corresponding to the main requested value in case of the selection of the steering control or the non-main requested value in case of the selection of the braking control;

a first actual physical value detecting part that detects a first physical value of the controlled variable actually applied to the vehicle;

a first feedback control part that sets a first feedback controlled value of the controlled variable according to a feedback control such that a difference between the first normative value and the first physical value approaches zero when the steering angle is changed by the assist torque set at a value corresponding to the first feedback controlled value; and

an assist torque setting part that sets the specific value of the assist torque corresponding to the first feedback controlled value, and

the braking torque setting unit comprises;

a second norm setting part that sets the second normative value of the controlled variable corresponding to the main requested value in case of the selection of the braking control or the non-main requested value in case of the selection of the steering control;

a second actual physical value detecting part that detects a second physical value of the controlled variable actually applied to the vehicle;

a second feedback control part that sets a second feedback controlled value of the controlled variable according to a feedback control such that a difference between the second normative value and the second physical value approaches zero when the braking torque set at a value corresponding to the second feedback controlled value is applied to the wheel of the vehicle; and

a braking torque setting part that sets the specific value of the braking torque corresponding to the second feedback controlled value of the controlled variable.

4. The apparatus according to claim 3, wherein

the assist torque setting unit further comprises a first calculating part that outputs the main requested value to the first norm setting part in case of the selection of the steering control, outputs a first correction value, denoting a difference between the main requested value and the first normative value, to the braking torque setting unit in case of the selection of the steering control, receives a second correction value denoting a difference between the main requested value and the second normative value from the braking torque setting unit in case of the selection of the braking control, and outputs a sum of the second correction value and the non-main requested value to the first norm setting part in case of the selection of the braking control, and

the braking torque setting unit comprises a second calculating part that outputs the main requested value to the second norm setting part in case of the selection of the braking control, outputs the second correction value to the first calculating part in case of the selection of the braking control, and outputs a sum of the first correction value, received from the first calculating part of the assist torque setting unit, and the non-main requested value to the second norm setting part in case of the selection of the steering control.

5. The apparatus according to claim 1, wherein the control allocating unit receives the selection of the steering control and the desired value of the vehicle turning motion from a control block which controls the vehicle to avoid collision with an object located in front of the vehicle, outputs the main requested value to the assist torque setting unit, and outputs the non-main requested value to the braking torque setting unit, the assist torque setting unit sets the specific assist torque from the main requested value, and the braking torque setting unit sets the specific braking torque from the non-main requested value.

6. The apparatus according to claim 1, wherein the control allocating unit receives the selection of the braking control and the desired value of the vehicle turning motion from a control block which controls the vehicle to turn on a curved path while being decelerated, outputs the main requested value to the braking torque setting unit, and outputs the non-main requested value to the assist torque setting unit, the assist torque setting unit sets the specific assist torque from the non-main requested value, and the braking torque setting unit sets the specific braking torque from the main requested value.

7. The apparatus according to claim 1, wherein the controlled variable is a yaw rate, a slip angle or a lateral acceleration of the vehicle.