Vehicle attitude control apparatus wherein tire slip angle and wheel longitudinal force are controlled

• US 5,762,157 A
• Filed: 02/15/1996
• Issued: 06/09/1998
• Est. Priority Date: 02/20/1995
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Uehara, Yasuo
• Primary Examiner(s): Ellis, Christopher P.
• Application Number:
  US08/602,230
• Time in Patent Office: 845 Days
• Field of Search: 180/197, 303/148, 303/146, 303/163, 364/426.027, 364/426.028, 364/426.029, 701/82, 701/83, 701/90, 701/88
• US Class Current: 180/197
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2260/022 Rear-wheel steering; Four-wheel steering
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0028 Mathematical models, e.g. for simulation
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2510/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 40/101 Side slip angle of tyre
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

An apparatus for controlling an attitude of a motor vehicle, including a longitudinal force control device for controlling a torque of a wheel of the motor vehicle to thereby control a longitudinal force which acts in a longitudinal direction of the vehicle between the wheel and a road surface, and a tire slip angle control portion for controlling a tire slip angle of the wheel such that an absolute value of the tire slip angle is smaller when the longitudinal force control device is in operation than when the longitudinal force control device is not in operation.

Claims

1. An apparatus for controlling an attitude of a motor vehicle, comprising:

a longitudinal force control device for controlling a torque of a wheel of the motor vehicle to thereby control a longitudinal force which acts in a longitudinal direction of the vehicle between the wheel and a road surface; and

a tire slip angle control portion for controlling a tire slip angle of said wheel such that an absolute value of the tire slip angle is smaller when said longitudinal force control device is in operation than when said longitudinal force control device is not in operation.

2. An apparatus according to claim 1, further comprising a lateral force control device for controlling a steering angle of said wheel to thereby control a lateral force which acts in a lateral direction of the vehicle between the wheel and the road surface, and wherein said tire slip angle control portion includes first slip angle reducing means for reducing the absolute value of said tire slip angle when said longitudinal force control device is in operation, such that an amount of reduction of said absolute value is determined on the basis of said longitudinal force which is to be established by an operation of said longitudinal force control device concurrently with an operation of said lateral force control device.

3. An apparatus according to claim 2, wherein said tire slip angle control portion further includes second slip angle reducing means for reducing the absolute value of said tire slip angle when said longitudinal force control device is in operation, such that said amount of reduction of said absolute value is smaller when said longitudinal force acting between said wheel and said road surface should not be increased, than when said longitudinal force should be increased.

4. An apparatus according to claim 3, wherein said second slip angle reducing means effects a determination as to whether said longitudinal force should be increased or not, depending upon a location of said wheel in said vehicle.

5. An apparatus according to claim 1, wherein said wheel is a rear wheel, said apparatus further comprising a rear steering control device as a lateral force control device for controlling a steering angle of said rear wheel to thereby control a lateral force which acts in a lateral direction of the vehicle between the wheel and the road surface, said rear steering control device comprising a sensor device for obtaining information indicative of running parameters of the motor vehicle, a rear steering actuator for changing the steering angle of said rear wheel, and a rear steering controller for determining a target value of the steering angle of the rear wheel on the basis of output signals of said sensor device and controlling said rear steering controller such that an actual value of the steering angle of the rear wheel coincides with said target value.

6. An apparatus according to claim 1, wherein said longitudinal force control device includes a torque control device for controlling torque values of a right and a left wheel of the vehicle independently of each other, said torque control device comprising a sensor device for obtaining information indicative of running parameters of the motor vehicle, a torque control actuator for changing said torque values of said right and left wheels, and a torque controller for determining a target value of a difference between said torque values of the right and left wheels on the basis of output signals of said sensor device and controlling said torque control actuator such that an actual value of said difference coincides with said target value.

7. An apparatus according to claim 6, wherein said torque control actuator of said torque control device includes a brake actuator comprising a solenoid-operated pressure control device which is electromagnetically controlled to regulate braking pressures to be applied to wheel brake cylinders for braking said right and left wheels to thereby control braking forces acting on said right and left wheels.

8. An apparatus according to claim 5, wherein said rear steering controller comprises target determining means for determining said target value of the steering angle of said rear wheel irrespective of whether said longitudinal force control device is in operation or not, and target adjusting means for reducing said target value determined by said target determining means if said longitudinal force control device is in operation, said target adjusting means constituting a part of said tire slip angle control portion.

9. An apparatus according to claim 1, further comprising a lateral force control device for controlling a lateral force which acts in a lateral direction of the vehicle between the wheel and the road surface, and wherein said longitudinal force control device is operated to control said longitudinal force only when the attitude of the vehicle cannot be corrected by an operation of said lateral force control device.

10. An apparatus according to claim 2, wherein said first slip angle control means of said tire slip angle control portion determines said amount of reduction of said absolute value of said tire slip angle of said wheel such that said amount of reduction increases with an increase in said longitudinal force which is to be established by the operation of said longitudinal force control device concurrently with the operation of said lateral force control device.

11. An apparatus according to claim 4, wherein said tire slip angle control portion further includes a vehicle parameter estimating device for determining whether an actual lateral force acting on said wheel in said lateral direction is increasing or decreasing with an increase in said tire slip angle, and third slip angle reducing means for changing the absolute value of said tire slip angle depending upon a result of determination by said vehicle parameter estimating device, as well as said longitudinal force which is to be established by the operation of said longitudinal force control device concurrently with the operation of said lateral force control device, and said location of said wheel in said vehicle.

14. An apparatus according to claim 1, wherein said tire slip angle control portion controls the absolute value of said tire slip angle such that said absolute value is reduced when said longitudinal force acting between said wheel and said road surface should be increased if said absolute value is kept constant, and such that said absolute value is increased when said longitudinal force should be decreased if said absolute value is kept constant.

15. An apparatus according to claim 1, wherein said longitudinal force control device for controlling said longitudinal force acting between each of a right and a left wheel and said road surface, said longitudinal force control device including a yaw moment control braking device for controlling a difference between braking forces acting on said right and left wheels so as to control a yaw moment of said vehicle, said tire slip angle control portion controlling the absolute value of said tire slip angle of said each of said right and left wheels on the basis of a target value of said yaw moment.

16. An apparatus according to claim 15, wherein said tire slip angle control portion increases the absolute value of said tire slip angle when both of said braking force acting on said each wheel and a lateral force acting on said each wheel in a lateral direction of the vehicle are decreasing with an increase in the absolute value of said tire slip angle and when both of said braking force and said lateral force should be decreased to control said yaw moment, said tire slip angle control portion decreasing said absolute value when said lateral force and said braking force acting on said each wheel are increasing and decreasing, respectively, with said increase in said absolute value and when said lateral force and said braking force should be decreased and increased, respectively, to control said yaw moment.

17. An apparatus according to claim 15, wherein said tire slip angle control portion decreases the absolute value of said tire slip angle when both of said braking force acting on said each wheel and a lateral force acting on said each wheel in a lateral direction of the vehicle are decreasing with an increase in the absolute value of said tire slip angle and when both of said braking force and said lateral force should be increased to control said yaw moment, said tire slip angle control portion increasing said absolute value when said lateral force and said braking force acting on said each wheel are increasing and decreasing, respectively, with said increase in said absolute value and when said lateral force and said braking force should be increased and decreased, respectively, to control said yaw moment.

12. An apparatus for controlling an attitude of a motor vehicle, comprising:

a lateral force control device for controlling a steering angle of a wheel of the motor vehicle to thereby control a lateral force which acts in a lateral direction of the vehicle between said wheel and a road surface;

a longitudinal force control device for controlling a torque of said wheel to thereby control a longitudinal force which acts in a longitudinal direction of the vehicle between said wheel and the road surface; and

a tire slip angle control portion for controlling a tire slip angle of said wheel such that an absolute value of the tire slip angle is smaller when said lateral force control device and said longitudinal force control device are concurrently operated, than when only said lateral force control device is operated alone.

13. An apparatus according to claim 12, wherein said tire slip angle control portion comprises slip angle reducing means for reducing the absolute value of said tire slip angle when said lateral and longitudinal force control devices are concurrently operated, such that said amount of reduction of said absolute value is smaller when said longitudinal force acting between said wheel and said road surface should not be increased, than when said longitudinal force should be increased, said slip angle reducing means determining whether said longitudinal force should be increased or not, depending upon a location of said wheel in the vehicle.