VEHICLE BRAKING/DRIVING FORCE CONTROL APPARATUS

• US 20150105978A1
• Filed: 10/15/2014
• Published: 04/16/2015
• Est. Priority Date: 10/16/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: NAKATSU, Masatoshi
• Granted Patent: US 9,233,689 B2
• Time in Patent Office: Days
• US Class Current: 701/37
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 3/0076 relating to braking
• CPC Class Codes: B60L 7/00 Electrodynamic brake systems for vehicles in general
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/192 electric brakes
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 2720/16 Pitch
• CPC Class Codes: B60W 2720/18 Roll
• CPC Class Codes: B60W 2720/30 Wheel torque
• CPC Class Codes: B60W 2720/403 between front and rear axle
• CPC Class Codes: B60W 2720/406 between left and right wheel
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

When an ECU carries out vehicle yaw motion control on such a vehicle that a conversion rate of converting the braking/driving force into a vertical force is larger on rear wheels than on front wheels, a driver-requested braking/driving force is distributed to the four wheels so that a distribution ratio is larger for the rear wheels than for the front wheels. Thus, when roll control necessary as a result of the vehicle yaw motion control is carried out, a target braking/driving force of a turning outer wheel for which the largest control driving force is required becomes hard to reach a driving limit. From the foregoing, when vehicle motion control is carried out with use of a braking/driving force of each wheel, each wheel is prevented from reaching a driving force limit as much as possible.

Claims

1. A vehicle braking/driving force control apparatus, comprising:

an actuator for independently driving a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel, thereby generating a braking/driving force representing both a braking force and a driving force on each of the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel;

a suspension link mechanism for independently coupling the each of the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel to a vehicle body, and converting the braking/driving force on the each of the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel driven by the actuator into a force in a vertical direction of the vehicle body,

the suspension link mechanism being configured so that a conversion rate of converting the braking/driving force into the force in the vertical direction of the vehicle body is different between a front wheel side and a rear wheel side;

target braking/driving force calculation means for calculating target braking/driving forces for the four wheels, including a driver-requested braking/driving force set based on an operation amount of a driver and a motion control braking/driving force necessary for vehicle motion control;

actuator control means for controlling operations of the actuators by following the target braking/driving forces; and

distribution setting means for setting a distribution of the driver-requested braking/driving force to the front wheels and the rear wheels so that the distributed driver-requested braking/driving force is larger for the wheels coupled to the suspension link mechanisms having a larger conversion rate than for the wheels coupled to the suspension link mechanisms having a smaller conversion rate.

2. A vehicle braking/driving force control apparatus according to claim 1, further comprising distribution switching means for switching the distribution of the driver-requested braking/driving force to the front wheels and the rear wheels so that a distribution ratio of the driver-requested braking/driving force to the wheels coupled to the suspension link mechanisms having the larger conversion rate becomes larger when the vehicle motion control is carried out than when the vehicle motion control is not carried out,

wherein when at least the vehicle motion control is carried out, the distribution setting means sets the distribution of the driver-requested braking/driving force to the front wheels and the rear wheels so that the distributed driver-requested braking/driving force is larger for the wheels coupled to the suspension link mechanisms having the larger conversion rate than for the wheels coupled to the suspension link mechanisms having the smaller conversion rate.

3. A vehicle braking/driving force control apparatus according to claim 2, further comprising non-motion-control-time distribution setting means for setting, when the vehicle motion control is not carried out, the distributions of the driver-requested braking/driving force to the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel to be equal to one another.

4. A vehicle braking/driving force control apparatus according to claim 2,

wherein the distribution switching means switches the distribution of the driver-requested braking/driving force to the front wheels and the rear wheels so that the distribution ratio of the driver-requested braking/driving force to the wheels coupled to the suspension link mechanisms having the larger conversion rate becomes larger when vehicle yaw motion control is carried out than when the vehicle yaw motion control is not carried out, and

wherein when at least the vehicle yaw motion control is carried out, the distribution setting means sets the distribution of the driver-requested braking/driving force to the front wheels and the rear wheels so that the distributed driver-requested braking/driving force is larger for the wheels coupled to the suspension link mechanisms having the larger conversion rate than for the wheels coupled to the suspension link mechanisms having the smaller conversion rate.

5. A vehicle braking/driving force control apparatus according to claim 1, wherein when vehicle yaw motion control is carried out, the target braking/driving force calculation means calculates the motion control braking/driving force for the each of the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel so that a front wheel roll moment generated by the driving forces of the front wheels and a rear wheel roll moment generated by the driving forces of the rear wheels are balanced with each other during the vehicle yaw motion control.

6. A vehicle braking/driving force control apparatus according to claim 1, further comprising reserve force equalization means for setting a distribution ratio of the driver-requested braking/driving force between the front wheels and the rear wheels so that reserve vertical forces, which are able to be generated via the suspension link mechanisms on the vehicle body by the braking/driving forces on the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel, are equal between the front wheel side and the rear wheel side.

7. A vehicle braking/driving force control apparatus according to claim 6, further comprising small-requested-braking/driving-force distribution ratio setting means for setting, when the driver-requested braking/driving force is less than a set value set in advance, the distribution ratio between the front wheels and the rear wheels so that the driver-requested braking/driving force is distributed only to the wheels coupled to the suspension link mechanisms having the larger conversion rate.

8. A vehicle braking/driving force control apparatus according to claim 1, further comprising state-amount-adapted distribution ratio setting means for detecting a motion state amount of a vehicle, and setting a distribution ratio of the driver-requested braking/driving force between the front wheels and the rear wheels depending on the motion state amount.

9. A vehicle braking/driving force control apparatus according to claim 8, wherein the state-amount-adapted distribution ratio setting means sets the distribution ratio of the driver-requested braking/driving force to the rear wheel side so as to increase as the motion state amount increases.