VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

• US 20140316653A1
• Filed: 01/22/2013
• Published: 10/23/2014
• Est. Priority Date: 01/25/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kikuchi, Hironobu, Hirayama, Katsuhiko
• Granted Patent: US 9,415,657 B2
• Time in Patent Office: Days
• US Class Current: 701/38
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 17/06 Characteristics of dampers , e.g. mechanical dampersB60G17/015 takes precedence
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2400/91 Frequency
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 2260/06 Active Suspension System
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/17555 specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2030/206 related or induced by the engine
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2710/223 Stiffness
• CPC Class Codes: B60W 2710/226 Damping
• CPC Class Codes: B60W 30/20 Reducing vibrations in the driveline

Abstract

A vehicle control device includes a motive power source orientation control device, a friction brake orientation control device, a damping force control device, and an orientation control device. The orientation control device controls vehicle body orientation via the motive power source orientation control device when the absolute value of the amplitude of a detected state quantity is less than a first predetermined value, via the damping force control device in addition to the motive power source orientation control device when the absolute value of the amplitude is equal to or greater than the first predetermined value and less than a second predetermined value greater than the first predetermined value, and via the friction brake orientation control device in addition to the motive power source orientation control device and the damping force control device when the absolute value of the amplitude is equal to or greater than the second predetermined value.

Claims

1. A vehicle control device comprising:

a motive power source orientation control device configured to calculate a motive power source orientation control amount for a vehicle motive power source so as to yield a target orientation for vehicle body orientation, and being configured to output the amount to the motive power source;

a friction brake orientation control device configured to calculate a brake orientation control amount for a friction brake so as to yield a target orientation for vehicle body orientation, and being configured to output the amount to a friction brake;

a damping force control device configured to calculate a shock absorber orientation control amount for a variable-damping-force shock absorber so as to yield a target orientation for vehicle body orientation, and being configured to output the shock absorber orientation control amount to the variable-damping-force shock absorber;

a state quantity detection device configured to detect a state quantity indicating vehicle body orientation; and

an orientation control device configured to control vehicle body orientation via the motive power source orientation control device when the absolute value of the amplitude of the detected state quantity is less than a first predetermined value, via the damping force control device in addition to the motive power source orientation control device when the absolute value of the amplitude is equal to or greater than the first predetermined value and less than a second predetermined value greater than the first predetermined value, and via the friction brake orientation control device in addition to the motive power source orientation control device and the damping force control device when the absolute value of the amplitude is equal to or greater than the second predetermined value.

7. The vehicle control device according to claim 1, further comprising

a driving state detection device configured to detect vehicle pitch rate;

and

the orientation control device is configured to calculate an orientation control amount that will yield a target pitch for the vehicle pitch rate.

8. The vehicle control device according to claim 7, wherein

the driving state detection device is configured to estimate vehicle pitch rate on the basis of changes in wheel speed.

9. The vehicle control device according to claim 7, wherein:

the driving state detection device is configured to estimate vehicle pitch rate using a four-wheel model constructed using a bounce term representing the four-wheel vertical movement, a pitch term representing front and rear wheel vertical movement, a roll term representing left and right wheel vertical movement, and a warp term representing diagonal wheel vertical movement.

10. The vehicle control device according to claim 1, wherein

the orientation control device is configured to calculate the orientation control amounts on the basis of skyhook control.

11. The vehicle control device according to claim 1, wherein

the state quantity detection device is configured to estimate a state quantity indicating vehicle body orientation on the basis of changes in wheel speed.

12. The vehicle control device according to claim 1, wherein

the state quantity detection device is configured to estimate vehicle pitch rate.

13. The vehicle control device according to claim 1, wherein

the state quantity detection device is configured to estimate vehicle roll rate.

16. The vehicle control device according to claim 8, wherein:

the driving state detection device is configured to estimate vehicle pitch rate using a four-wheel model constructed using a bounce term representing the four-wheel vertical movement, a pitch term representing front and rear wheel vertical movement, a roll term representing left and right wheel vertical movement, and a warp term representing diagonal wheel vertical movement.

17. The vehicle control device according to claim 9, wherein

the orientation control device is configured to calculate the orientation control amounts on the basis of skyhook control.

18. The vehicle control device according to claim 10, wherein

the state quantity detection device is configured to estimate a state quantity indicating vehicle body orientation on the basis of changes in wheel speed.

19. The vehicle control device according to claim 11, wherein

the state quantity detection device is configured to estimate vehicle pitch rate.

20. The vehicle control device according to claim 12, wherein

the state quantity detection device is configured to estimate vehicle roll rate.

2-6. -6. (canceled)

14. A vehicle control device comprising:

a sensor configured to detect a state quantity indicating vehicle body orientation; and

a controller configured to control vehicle body orientation via drive force from a vehicle motive power source when the absolute value of the amplitude of the detected state quantity is less than a first predetermined value, and via the damping force control device in addition to drive force from the motive power source when the absolute value of the amplitude is equal to or greater than the first predetermined value and less than a second predetermined value greater than the first predetermined value, and using the friction brake orientation control device in addition to the motive power source orientation control device and the damping force control device when the absolute value of the amplitude is equal to or greater than the second predetermined value.

15. A vehicle control method comprising:

controlling, using a controller, vehicle body orientation using a motive power source orientation control when the absolute value of the amplitude of a state quantity indicating vehicle body orientation is less than a first predetermined value, and using a damping force control device in addition to the motive power source orientation control when the absolute value of the amplitude is equal to or greater than the first predetermined value and less than a second predetermined value greater than the first predetermined value, and using a friction brake orientation control device in addition to the motive power source orientation control means and the damping force control means when the absolute value of the amplitude is equal to or greater than the second predetermined value.