Vehicle motion control system
First Claim
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1. A vehicle motion control system comprising:
- a wheel slip control system for sensing a wheel slip and controlling a wheel slip degree toward a desired slip degree;
a steering angle sensing means for sensing a steering input representing a steering angle;
a vehicle speed sensing means for sensing a vehicle speed;
a target vehicle motion setting means for receiving a steering input signal representing said steering input and a vehicle speed signal representing said vehicle speed, and determining a desired vehicle motion variable by using a first model which is one of a reference mathematical model representing a desired dynamic characteristic and a vehicle model described by an equation of motion;
a control input determining means for receiving said steering input, said vehicle speed and said desired motion variable, and determining a control input command to make an actual vehicle motion closer to said desired motion variable by using an inverse vehicle model for an inverse operation of an equation of vehicle motion, said inverse model being determined by vehicle specification data items of a controlled vehicle;
a modified cornering power determining means for receiving the wheel slip degree detected by said wheel slip control system, and determining a modified value of a cornering power constant which represents a cornering power and which is one of said vehicle specification data items of said controlled vehicle, in accordance with said wheel slip degree;
a constant altering means for changing said cornering power constant of said control input determining means to said modified value of said cornering power constant in response to an actuation signal of said wheel slip control system; and
an actuating means for controlling a behavior of said controlled vehicle in accordance with said control input command.
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Accused Products
Abstract
A vehicle motion control system is combined with a wheel slip control system so as to stabilize vehicle behavior during traction control during which a drive wheel cornering power varies. When the wheel slip control is in operation, a signal of a drive wheel slip is transferred from the wheel slip control system to the motion control system. In response to this signal, the motion control system rewrites a constant representing a drive wheel cornering power, and produces a control signal for controlling the vehicle motion by using the rewritten constant.
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Citations
34 Claims
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1. A vehicle motion control system comprising:
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a wheel slip control system for sensing a wheel slip and controlling a wheel slip degree toward a desired slip degree; a steering angle sensing means for sensing a steering input representing a steering angle; a vehicle speed sensing means for sensing a vehicle speed; a target vehicle motion setting means for receiving a steering input signal representing said steering input and a vehicle speed signal representing said vehicle speed, and determining a desired vehicle motion variable by using a first model which is one of a reference mathematical model representing a desired dynamic characteristic and a vehicle model described by an equation of motion; a control input determining means for receiving said steering input, said vehicle speed and said desired motion variable, and determining a control input command to make an actual vehicle motion closer to said desired motion variable by using an inverse vehicle model for an inverse operation of an equation of vehicle motion, said inverse model being determined by vehicle specification data items of a controlled vehicle; a modified cornering power determining means for receiving the wheel slip degree detected by said wheel slip control system, and determining a modified value of a cornering power constant which represents a cornering power and which is one of said vehicle specification data items of said controlled vehicle, in accordance with said wheel slip degree; a constant altering means for changing said cornering power constant of said control input determining means to said modified value of said cornering power constant in response to an actuation signal of said wheel slip control system; and an actuating means for controlling a behavior of said controlled vehicle in accordance with said control input command. - View Dependent Claims (2, 3, 4, 5)
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6. A vehicle motion control system comprising:
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a wheel slip control system for sensing a wheel slip and controlling a wheel slip degree toward a desired slip degree; a steering angle sensing means for sensing a steering input representing a steering angle; a vehicle speed sensing means for sensing a vehicle speed; a target vehicle motion setting means for receiving a steering input signal representing said steering input and a vehicle speed signal representing said vehicle speed, and determining a desired vehicle motion variable by using a first model which is one of a reference mathematical model simulating a desired dynamic characteristic and a vehicle model comprising an equation of motion; a control input determining means for receiving said steering input, said vehicle speed and said desired motion variable, and determining a control input command to make an actual vehicle motion closer to said desired motion variable by using an inverse model for an inverse operation of an equation of vehicle motion, said inverse model being determined by vehicle specification data items of a controlled vehicle; a modified cornering power determining means for receiving the wheel slip degree detected by said wheel slip control system, and determining a modified value of a cornering power representing constant which is one of said vehicle specification data items of said controlled vehicle, in accordance with said wheel slip degree; a desired cornering power computing means for receiving a desired slip degree determined by said wheel slip control system, and computing a desired cornering power corresponding to said desired slip degree; a steady state gain modifying means for determining a modified value of a steady state gain of said reference model in accordance with said desired cornering power; a constant altering means for changing said cornering power constant of said control input determining means to said modified value of said cornering power constant, and said steady state gain of said reference model to said modified value of said steady state gain in response to an actuation signal of said wheel slip control system; and an actuating means for controlling a behavior of said controlled vehicle in accordance with said control input command. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A vehicle motion control system comprising:
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a wheel slip control system for sensing a wheel slip and controlling a wheel slip degree toward a desired slip degree; a steering angle sensing means for sensing a steering input representing a steering angle; a vehicle speed sensing means for sensing a vehicle speed; a target vehicle motion setting means for receiving a steering input signal representing said steering input and a vehicle speed signal representing said vehicle speed, and determining a desired vehicle motion variable by using a first model which is one of a reference mathematical model simulating a desired dynamic characteristic and a vehicle model described by an equation of motion; a control input determining means for receiving said steering input, said vehicle speed and said desired motion variable, and determining a control input command to make a motion of an actual vehicle closer to said desired motion variable by performing an inverse operation of an equation of vehicle motion with an inverse model comprising vehicle constants representing vehicle specification items of a controlled vehicle; a modified cornering power determining means for receiving the wheel slip degree detected by said wheel slip control system, and determining a modified value of a cornering power constant which is one of said vehicle constants of said inverse model and which corresponds to a cornering power of said controlled vehicle, in accordance with said wheel slip degree; a desired cornering power determining means for receiving a desired slip degree determined by said wheel slip control system, and determining a desired cornering power corresponding to said desired slip degree; a constant altering means for changing said cornering power constant of said control input determining means to said modified value of said cornering power constant in response to an actuation signal of said wheel slip control system, and a cornering power constant of said vehicle model of said target motion determining means to said desired cornering power; and an actuating means for controlling a vehicle motion in accordance with said control input command. - View Dependent Claims (13, 14, 15, 16)
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17. A vehicle motion control system comprising:
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a wheel slip control system for sensing a wheel slip and controlling a wheel slip degree toward a desired slip degree; a steering angle sensing means for sensing a steering input representing a steering angle; a vehicle speed sensing means for sensing a vehicle speed; a first control input computing means for receiving a steering input signal representing said steering input and a vehicle speed signal representing said vehicle speed, and determining a first control input by using a predetermined function; a target vehicle motion setting means for receiving said steering input, said vehicle speed and said first control input, and determining a desired vehicle motion variable by using a vehicle model comprising an equation of motion; a second control input computing means for receiving said steering input, said vehicle speed, said first control input and said desired motion variable, and determining a second control input to make an actual vehicle motion closer to said desired motion variable by performing an inverse operation of an equation of vehicle motion by using an inverse vehicle model comprising vehicle constants characteristic of a controlled vehicle; a control input determining means for determining a control input command by adding said first and second control inputs; a cornering power modifying means for receiving the wheel slip degree detected by said wheel slip control system, and determining a modified value of a cornering power constant which is one of said vehicle constants of said second control input computing means and which corresponds to a cornering power, in accordance with said wheel slip degree; a constant altering means for changing said cornering power constant of said second control input computing means to said modified value in response to an actuation signal of said wheel slip control system; and an actuating means for controlling a vehicle motion in accordance with said control input command determined by said control input determining means. - View Dependent Claims (18, 19, 20, 21, 22)
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23. A vehicle motion control system comprising:
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a wheel slip control system for sensing a wheel slip and controlling a wheel slip degree toward a desired slip degree; a steering angle sensing means for sensing a steering input representing a steering angle; a vehicle speed sensing means for sensing a vehicle speed; a first control input computing means for receiving a steering input signal representing said steering input and a vehicle speed signal representing said vehicle speed, and determining a first control input by using a predetermined function; a target vehicle motion setting means for receiving said steering input, said vehicle speed and said first control input, and determining a desired vehicle motion variable by using a vehicle model described by an equation of motion; a second control input computing means for receiving said steering input, said vehicle speed, said first control input and said desired motion variable, and determining a second control input to make an actual vehicle motion closer to said desired motion variable by performing an inverse operation of an equation of vehicle motion by using vehicle constants characteristic of a controlled vehicle; a control input determining means for determining a control input command by adding said first and second control inputs; a modified cornering power determining means for receiving the wheel slip degree detected by said wheel slip control system, and determining a modified value of a cornering power constant which is one of said vehicle constants of said second control input computing means and which corresponds to a cornering power, in accordance with said wheel slip degree; a desired cornering power calculating means for receiving a desired slip degree determined by said wheel slip control system, and calculating a desired cornering power corresponding to said desired slip degree; a constant altering means for changing said cornering power constant of said second control input determining means to said modified value of the cornering power constant, and a cornering power constant of said vehicle model of said target motion setting means to said desired cornering power in response to an actuation signal of said wheel slip control system; and an actuating means for controlling a vehicle motion in accordance with said control input command determined by said control input determining means. - View Dependent Claims (24, 25, 26, 27, 28)
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29. A vehicle control system for a controlled vehicle, comprising:
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a wheel spinning condition sensing means for sensing an actual wheel spinning condition of said controlled vehicle; a wheel slip control actuator for performing a wheel slip control operation in response to a wheel slip control signal; a steering input sensing means for sensing an actual steering input of said controlled vehicle; a vehicle speed sensing means for sensing an actual vehicle speed of said controlled vehicle; a vehicle directional motion control actuator for performing a vehicle motion control operation in response to a vehicle motion control signal; and a vehicle controller for producing said wheel slip control signal in accordance with said actual wheel spinning condition, and for producing said vehicle motion control signal in accordance with said actual wheel spinning condition, said actual steering input and said actual vehicle speed; wherein said vehicle controller stores an input-to-response mathematical model for determining a value of a desired steering response corresponding to a value of a steering input and a value of a vehicle speed, and an inverse mathematical model which is for determining, from a value of a predetermined steering response, a required control input required to achieve the value of the predetermined steering response in said controlled vehicle, and which comprises a group of vehicle constants representing vehicle specification data items specifying a steering response of said controlled vehicle, said group of the vehicle constants comprising a cornering power constant representing a cornering power of said controlled vehicle; and wherein said vehicle controller comprises a vehicle motion controlling means for determining said desired vehicle steering response by solving said input-to-response mathematical model by use of the actual steering input and the actual vehicle speed, for determining said required control input required to achieve said desired steering response by solving said inverse mathematical model by use of the actual steering input, the actual vehicle speed and said desired vehicle response, for adjusting said cornering power constant of said inverse model in dependence on said actual wheel spinning condition to prevent a behavior of said controlled vehicle from being fluctuated by the wheel slip control operation, and for producing said vehicle motion control signal in accordance with said required control input. - View Dependent Claims (30, 31, 32, 33, 34)
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Specification