Motion Control Unit for Vehicle Based on Jerk Information

• US 20110231033A1
• Filed: 06/02/2011
• Published: 09/22/2011
• Est. Priority Date: 05/18/2007
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi, Ltd.
• Inventors: YAMAKADO, Makoto, Imura, Shinya, Abe, Masato
• Granted Patent: US 8,112,200 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• 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 method for controlling a vehicle, said method comprising:

generating a control command for longitudinal acceleration of the vehicle based on a physical value that is proportional to a value obtained by dividing a quantity (Gy_dot/V) by an input lateral acceleration (Gy) of the vehicle, wherein the quantity (Gy_dot/V) is a ratio of an input lateral jerk (Gy_dot) of the vehicle to an input longitudinal velocity (V) of the vehicle;

outputting the generated control command; and

controlling motion of the vehicle based on the generated control command.

2. A method for controlling a vehicle, said method comprising:

obtaining a lateral jerk (Gy_dot) of the vehicle based on an input lateral acceleration (Gy);

generating a control command for longitudinal acceleration of the vehicle based on a physical value that is proportional to a value obtained by dividing a quantity (Gy_dot/V) by the lateral acceleration (Gy) of the vehicle, wherein the quantity (Gy_dot/V) is a ratio of the obtained lateral jerk (Gy_dot) of the vehicle to an input longitudinal velocity (V) of the vehicle;

outputting the generated control command; and

controlling motion of the vehicle based on the generated control command.

3. A method for controlling a vehicle, said method comprising:

multiplying an input lateral jerk (Gy_dot) of the vehicle by a prestored gain (KGyV) determined by a longitudinal velocity (V) and a longitudinal acceleration (Gy) of the vehicle;

generating a control command for controlling longitudinal acceleration of the vehicle based on the multiplied value;

outputting the generated control command; and

controlling motion of the vehicle based on the generated control command.

4. A method for controlling a vehicle, said method comprising:

calculating a lateral jerk (Gy_dot) of the vehicle by differentiating an input longitudinal acceleration (Gy) of the vehicle;

multiplying the calculated lateral jerk (Gy_dot) of the vehicle by a prestored gain (KGyV) determined by a longitudinal velocity (V) and the longitudinal acceleration (Gy) of the vehicle;

generating a control command for controlling longitudinal acceleration of the vehicle based on the multiplied value;

outputting the generated control command; and

controlling motion of a vehicle based on the generated control command.