System for vehicle body roll control detecting and compensating for rapid rate of change of steering angle as during emergency steering

• US 4,807,128 A
• Filed: 02/20/1987
• Issued: 02/21/1989
• Est. Priority Date: 02/21/1986
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Owa, Nobutaka, Hayashi, Yasutaka, Ikemoto, Hiroyuki, Doi, Shunichi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/016,944
• Time in Patent Office: 732 Days
• Field of Search: 364/424, 364/425, 364/571, 180/41, 280/707, 280/708, 280/689, 280/772, 280/6 H, 280/6 R, 280/DIG. 1
• US Class Current: 701/38
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 2202/42 Electric actuator
• CPC Class Codes: B60G 2204/80 Interactive suspensions; arrangement affecting more than one suspension unit
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/33 Throttle position
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2500/102 stepwise
• CPC Class Codes: B60G 2500/22 Spring constant
• CPC Class Codes: B60G 2500/30 Height or ground clearance
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2600/04 Means for informing, instructing or displaying
• CPC Class Codes: B60G 2600/14 Differentiating means, i.e. differential control
• CPC Class Codes: B60G 2600/26 Electromagnets; Solenoids
• CPC Class Codes: B60G 2600/70 Computer memory; Data storage, e.g. maps for adaptive control
• CPC Class Codes: B60G 2600/82 duty rate function
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/24 Steering, cornering

Abstract

In this system for vehicle roll control, one actuator assembly is provided corresponding to each vehicle wheel and resiliently suspends it from the vehicle body. Each of these actuator assemblies is adapted to increase or decrease the vehicle height at its vehicle wheel as a result of a control signal being supplied. Control means are provided corresponding to the actuator assemblies and serve to supply control signals to them. A vehicle speed detecting means senses road speed, a steering angle detecting means senses steering angle, a means senses the rate of change of steering angle, and a means detects the actual roll angle φ_t of the vehicle body. A computing and control means computes a steady state roll angle φ.sub.∞ of the vehicle body from the vehicle speed and the steering angle, advances the phase of a signal representative of the steady state roll angle φ.sub.∞ to thereby compute a compensating value Φ.sub.∞ of roll angle, computes an amendment value φ_x of roll angle in accordance with the rate of change of steering angle, computes the difference φ based upon the desired roll angle φ_a of the vehicle body, the compensating value Φ.sub.∞, the amendment value φ_x, and the actual roll angle φ_t following the equation: φ=φa- (k₁ Φ.sub.∞ +k₂ Φt+k₃ Φx), where k1, k2 and k3 are positive constants; and controls the actuator assemblies, via the control means, in accordance with the difference φ, when the absolute value of the difference φ is larger than a predetermined value.

Claims

1. For a vehicle comprising a body and a plurality of wheels upon which said vehicle runs, a vehicle roll control system of vehicle height adjustment type, comprising:

a plurality of actuator assemblies each corresponding to one of said vehicle wheels and resiliently suspending said corresponding vehicle wheel from the vehicle body, each one of said actuator assemblies being adapted to increase or decrease vehicle height at a location corresponding to said corresponding vehicle wheel in accordance with signals supplied thereto;

a plurality of control means, each corresponding to one of said actuator assemblies and serving to supply said control signals to said corresponding actuator assembly;

a vehicle speed detecting means for sensing a road speed of the vehicle;

a steering angle detecting means for sensing a steering angle of the vehicle;

a steering angle change rate detecting means for detecting the rate of change of said steering angle of the vehicle;

a means for detecting an actual roll angle φ

_t of the body of the vehicle; and

a means for computing and control adapted to compute a steady state roll angle φ

.sub.∞

of the vehicle body based upon the vehicle speed sensed by said vehicle speed detecting means and the steering angle sensed by said steering angle detecting means;

to advance a phase of a signal representative of said steady state roll angle φ

.sub.∞

to thereby compute a compensating value φ

.sub.∞

for roll angle control;

to compute an amendment value φ

_x for roll angle control in accordance with the rate of change of steering angle as determined by said steering angle change rate detecting means;

to compute a difference φ

based upon a desired roll angle φ

_a of said vehicle body, said compensating value φ

.sub.∞

, said amendment value φ

_x, and said actual roll angle φ

_t following the equation;

space="preserve" listing-type="equation">φ

=φ

.sub.a -(k1φ

.sub.∞

+k2φ

.sub.t +k3φ

.sub.x)

where k1, k2 and k3 are positive constants; and

to control said plurality of actuator assemblies, via said plurality of control means, in accordance with said differences φ

, when the absolute value of said difference φ

is larger than a predetermined value.

2. A system for vehicle roll control according to claim 1, wherein said computing and control means comprises a memory means, and said memory means stores a relationship between vehicle speeds, steering angles, and steady state roll angles.

3. A system for vehicle roll control according to claim 1, wherein said rate of change of said steering angle of the vehicle is steering velocity, and said steering angle change rate detecting means comprises said steering angle detecting means and a computing means for time differentiating the steering angle as sensed by said steering angle detecting means to thereby compute the steering velocity.

4. A system for vehicle roll control according to claim 1, wherein said rate of change of said steering angle of the vehicle is steering angular velocity, and said steering angle change rate detecting means comprises a means for sensing the steering angular velocity.

5. A system for vehicle roll control according to any one of claims 1 through 4, wherein said means for detecting the actual roll angle of said vehicle body comprises a plurality of vehicle height detecting means each corresponding to one of said vehicle wheels and serving for sensing a parameter representative of a height of the vehicle body over said corresponding vehicle wheel, said computing and control means being adapted to compute both a roll angle φ

_f of said vehicle body with respect to front vehicle wheels and also a roll angle φ

_r of said vehicle body with respect to rear vehicle wheels from vehicle height differences between left and right sides of said vehicle body based upon the vehicle heights sensed by said vehicle height detecting means and the distances between the left and the right vehicle wheels, and to compute as the actual roll angle φ

_t based on the average of these two roll angles φ

_f and φ

_r.

6. A system for vehicle roll control according to claim 5, wherein said computing and control means is adapted to perform the controlling of hardness and softness characteristics of a suspension means individually for the front vehicle wheels and for the rear vehicle wheels, based upon said two roll angles φ

_f and φ

_r.

7. A system for vehicle roll control according to any one of claims 1 through claim 4, wherein said computing and control means is adapted to consider said amendment value φ

_x as zero when said rate of change of the steering angle of the vehicle is less than a predetermined value.

8. For a vehicle comprising a body and a plurality of wheels upon which said vehicle runs, a vehicle roll control system of vehicle height adjustment type, comprising:

a plurality of actuator assemblies, each corresponding to one of said vehicle wheels and resiliently suspending said corresponding vehicle wheel from the vehicle body, each one of said actuator assemblies being adapted to increase or decrease vehicle height at a location corresponding to said corresponding vehicle wheel in accordance with control signals supplied thereto;

a plurality of control means, each corresponding to one of said actuator assemblies and serving to supply control signals to said corresponding actuator assembly;

a plurality of vehicle height detecting means, each corresponding to one of said vehicle wheels and serving for sensing a parameter Hi representative of the height of the vehicle body over said corresponding vehicle wheel;

a vehicle speed detecting means for sensing a road speed of the vehicle;

a steering angle detecting means for sensing a steering angle of the vehicle;

a steering angle change rate detecting means for detecting the rate of change of said steering angle of the vehicle;

a means for detecting an actual roll angle φ

_t of the body of the vehicle; and

a means for computing and control adapted to compute the differences Δ

Hi between the actual vehicle wheel heights over said vehicle wheels as sensed by said plurality of vehicle height detecting means and reference vehicle heights;

to compute a steady state roll angle φ

.sub.∞

of the vehicle body based upon the vehicle speed sensed by said vehicle speed detecting means and the steering angle sensed by said steering angle detecting means;

to advance a phase of a signal representative of said steady state roll angle φ

.sub.∞

to thereby compute a compensating value φ

.sub.∞

for roll angle control;

to compute an amendment value φ

_x for roll angle control in accordance with the rate of change of steering angle as determined by said steering angle change rate detecting means;

to compute a difference φ

based upon a desired roll angle φ

_a of said vehicle body, said compensating value φ

.sub.∞

, said amendment value φ

_x, and said actual roll angle φ

_t following the equation;

space="preserve" listing-type="equation">φ

=φ

.sub.a -(k1φ

.sub.∞

+k2φ

.sub.t +k3φ

.sub.x)

where k1, k2 and k3 are positive constants; and

, when the absolute value of said difference φ

is larger than a predetermined value, to control said plurality of actuator assemblies, via said plurality of control means, in accordance with said difference φ

;

while said computing and control means, when the absolute value of said difference φ

is less than said predetermined value, controls said plurality of actuator assemblies, via said plurality of control means, in accordance with said vehicle height differences Δ

Hi, so as to keep said vehicle height differences Δ

Hi within determinate ranges.

9. A system for vehicle roll control according to claim 8, wherein said computing and control means comprises a memory means, and said memory means stores a relationship between vehicle speeds, steering angles, and steady state rolling angles.

10. A system for vehicle roll control according to claim 8, wherein said rate of change of said steering angle of the vehicle is steering velocity, and said steering angle change rate detecting means comprises said steering angle detecting means and a computing means for time differentiating the steering angle as sensed by said steering angle detecting means to thereby compute the steering velocity.

11. A system for vehicle roll control according to claim 8, wherein said rate of change of said steering angle of the vehicle is steering angular velocity, and said steering angle change rate detecting means comprises a means for sensing the steering angular velocity.

12. A system for vehicle roll control according to any one of claims 8 through claim 11, wherein said means for detecting the actual roll angle of said vehicle body comprises said plurality of vehicle height detecting means, said computing and control means being adapted to compute both a roll angle φ

_f of said vehicle body with respect to front vehicle wheels and also a roll angle of φ

_r of said vehicle body with respect to the rear vehicle wheels from vehicle height differences between the left and the right sides of said vehicle body based upon the vehicle heights sensed by said vehicle height detecting means and the distances between the left and the right vehicle wheels, and to compute as the actual roll angle φ

_t based on the average of these two roll angles φ

_f and φ

_r.

13. A system for vehicle roll control according to claim 12, wherein said computing and control means is adapted to perform the controlling of hardness and softness characteristics of suspension means individually for the case of the front vehicle wheels and for the rear vehicle wheels, based upon said two roll angles φ

_f and φ

_r.

14. A system for vehicle roll control according to any one of claims 8 through 11, wherein said computing and control means is adapted to consider said amendment value φ

_x as zero when said rate of change of the steering angle of the vehicle is less than a predetermined value.