TRAVEL MOTION CONTROL DEVICE FOR VEHICLE
First Claim
1. A travel motion control device for a vehicle, which is configured to calculate, by using a time constant of a first-order lag set in advance, a reference motion state amount of the vehicle in a relationship of the first-order lag with respect to a normative motion state amount of the vehicle, to thereby control, when a magnitude of a deviation between an actual motion state amount of the vehicle and the reference motion state amount of the vehicle exceeds a threshold, a braking/driving force of each wheel or a steering angle of a steering wheel so as to decrease the magnitude of the deviation, whereinthe travel motion control device being configured to:
- acquire a correction value corresponding to a calculation error in the reference motion state amount of the vehicle caused by a difference of the time constant of the first-order lag from an actual value resulting from at least one of a change in an overall weight of the vehicle or a change in a vehicle longitudinal direction position of a vehicle center of gravity; and
correct one of the magnitude of the deviation and the threshold by using the correction value.
1 Assignment
0 Petitions
Accused Products
Abstract
A reference yaw rate of a vehicle in a relationship of a first-order lag with respect to a normative yaw rate is calculated by using a time constant of a first-order lag set in advance (S320), and when a magnitude of a deviation between an actual yaw rate and the reference yaw rate of the vehicle exceeds a threshold, vehicle motion control by controlling braking/driving force of each wheel is carried out so as to decrease the magnitude of the deviation (S420 to S500). A correction value (Δγcs) is acquired for preventing unnecessary execution of the vehicle motion control caused by the time constant different from an actual value resulting from a change in an overall weight of the vehicle or a change in a vehicle longitudinal direction position of a vehicle center of gravity (S330 to S390), and the threshold is corrected by using the correction value (S420).
5 Citations
8 Claims
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1. A travel motion control device for a vehicle, which is configured to calculate, by using a time constant of a first-order lag set in advance, a reference motion state amount of the vehicle in a relationship of the first-order lag with respect to a normative motion state amount of the vehicle, to thereby control, when a magnitude of a deviation between an actual motion state amount of the vehicle and the reference motion state amount of the vehicle exceeds a threshold, a braking/driving force of each wheel or a steering angle of a steering wheel so as to decrease the magnitude of the deviation, wherein
the travel motion control device being configured to: -
acquire a correction value corresponding to a calculation error in the reference motion state amount of the vehicle caused by a difference of the time constant of the first-order lag from an actual value resulting from at least one of a change in an overall weight of the vehicle or a change in a vehicle longitudinal direction position of a vehicle center of gravity; and correct one of the magnitude of the deviation and the threshold by using the correction value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification