Vehicle attitude control system having vehicle decelerating device operated before operation of vehicle attitude control device

• US 5,822,709 A
• Filed: 04/04/1996
• Issued: 10/13/1998
• Est. Priority Date: 04/06/1995
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Fujita, Kozo
• Primary Examiner(s): Nguyen, Tan Q.
• Application Number:
  US08/628,224
• Time in Patent Office: 922 Days
• Field of Search: 701/70, 701/71, 701/72, 701/74, 701/78, 701/79, 701/82, 701/83, 701/84, 701/85, 701/91, 701/37, 701/38, 180/197, 303/140, 303/146
• US Class Current: 701/70
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/246 Change of direction
• CPC Class Codes: B60T 8/445 replenishing the released brake fluid volume into the brake piping
• CPC Class Codes: B60T 8/4836 wherein a booster output pressure is used for normal or anti lock braking B60T8/4845, B60T8/4863, B60T8/489 take precedence
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• 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

A vehicle attitude control system for controlling an attitude of a motor vehicle, which system is provided with an attitude control device including a vehicle condition sensor for detecting at least one physical value relating to a turning condition of the vehicle, an attitude control mechanism for controlling the attitude of the vehicle, and a controller for controlling the attitude control mechanism so as to control the attitude of the vehicle on the basis of an output of the vehicle condition sensor, and wherein a deceleration control device is provided to decelerate the motor vehicle before the attitude control by the attitude control device is initiated, so that the attitude control device provides an intended effect of eliminating a drift-out or spinning tendency of the vehicle during turning, by operation of the attitude control device after initiation of the deceleration control.

Claims

1. A vehicle attitude control system for controlling an attitude of a motor vehicle, comprising:

an attitude control device including a vehicle condition sensor for detecting at least one physical value relating to a turning condition of the vehicle, an attitude control mechanism for controlling the attitude of the vehicle, and a controller for controlling the attitude control mechanism for effecting an attitude control so as to control the attitude of the vehicle on the basis of an output of said vehicle condition sensor; and

a deceleration control device for effecting a deceleration control to decelerate said motor vehicle before said attitude control by said attitude control device is initiated.

2. A vehicle attitude control system according to claim 1, wherein said deceleration control device comprises a decelerating mechanism for decelerating said vehicle, said decelerating mechanism being different from said attitude control mechanism.

3. A vehicle attitude control system according to claim 1, wherein said motor vehicle has a plurality of wheels including at least one torque-controlled wheel, and said deceleration control device reduces a rotating torque of each of said at least one torque-controlled wheel, said deceleration control device comprising a wheel deceleration amount controlling portion for controlling an amount of reduction of a rotating speed of said each torque-controlled wheel by said deceleration control device such that said amount of reduction of said rotating speed is smaller where it is adequate to increase a lateral force which is generated between said each torque-controlled wheel and a road surface during said attitude control initiated after initiation of said deceleration control, than where it is not adequate to increase said lateral force.

4. A vehicle attitude control system according to claim 1, wherein said deceleration control device comprises a vehicle deceleration amount controlling portion for controlling an amount of reduction of a running speed of said vehicle by said deceleration control device such that said amount of reduction of said running speed is larger where said attitude control initiated after initiation of said deceleration control is not expected to provide an intended effect of controlling the attitude of the vehicle, than where said attitude control is expected to provide said intended effect.

5. A vehicle attitude control system according to claim 1, wherein said vehicle condition sensor comprises a sensor for detecting a running speed of said motor vehicle, and a sensor for detecting an angle of rotation of a steering wheel of the vehicle, and said controller controls said attitude control mechanism on the basis of said running speed and said angle of rotation of said steering wheel.

6. A vehicle attitude control system according to claim 1, wherein said vehicle condition sensor comprises a sensor for detecting one of a lateral acceleration and a yaw rate of the vehicle, and said controller controls said attitude control mechanism on the basis of said one of said lateral acceleration and yaw rate of the vehicle.

7. A vehicle attitude control system according to claim 1, wherein said attitude control mechanism comprises a brake actuator capable of braking right and left wheels of the vehicle independently of each other, and said controller controls said brake actuator so as to generate a difference between braking forces to be applied to said right and left wheels, for thereby controlling a yaw moment of the vehicle to thereby effect said attitude control to control the attitude of the vehicle.

8. A vehicle attitude control system according to claim 1, wherein said controller comprises first determining means for determining whether a predetermined first condition of the vehicle for initiating said attitude control by said attitude control device is satisfied, and second determining means for determining whether a predetermined second condition of the vehicle for initiating said deceleration control by said deceleration control device is satisfied, said first and second conditions of the vehicle being determined such that said second condition is more likely to be satisfied than said first condition, said controller generating a deceleration command to initiate said deceleration control when said predetermined second condition is satisfied.

9. A vehicle attitude control system according to claim 8, wherein said first determining means determines that said predetermined first condition of the vehicle is satisfied when the following formula is satisfied:

space="preserve" listing-type="equation">|β

/a.sub.1 +β

'"'"'/b.sub.1 |≧

1

wherein, β

represents a lateral slip angle of a body of the vehicle while β

'"'"' represents a rate of change of said lateral slip angle, and a₁ and b₁ are positive integers,

and wherein said second determining means determines that said predetermined second condition of the vehicle is satisfied when the following formula is satisfied;

space="preserve" listing-type="equation">|β

/a.sub.2 +β

'"'"'/b.sub.2 |≧

1

wherein, a₂ and b₂ are positive integers which are smaller than a₁ and b₁, respectively.

10. A vehicle attitude control system according to claim 8, wherein said deceleration control device is held operated to continue said deceleration control while said deceleration command is generated from said controller.

11. A vehicle attitude control system according to claim 8, wherein said controller inhibits said first determining means from operating to determine whether said predetermined first condition of the vehicle is satisfied, until a predetermined deceleration time has passed after said deceleration control is initiated upon determination by said second determining means that said predetermined second condition of the vehicle is satisfied, whereby said controller inhibits said attitude control device from initiating said attitude control until said deceleration time has passed.

12. A vehicle attitude control system according to claim 8, wherein said first determining means and said second determining means are operated in parallel with each other, and said controller permits said attitude control device to operate even during said deceleration control, if said first determining means determines that said predetermined first condition of the vehicle is satisfied, after initiation of said deceleration control by said deceleration control device.

13. A vehicle attitude control system according to claim 1, wherein said deceleration control device comprises an engine torque control mechanism for controlling an output torque of an engine of the vehicle so as to decelerate the vehicle.

14. A vehicle attitude control system according to claim 13, wherein said engine torque control mechanism comprises a throttle valve disposed in a suction passage of said engine, and a throttle actuator for reducing an opening angle of said throttle valve to thereby reduce said output torque of said engine.

15. A vehicle attitude control system according to claim 14, wherein said engine includes a main throttle valve disposed in said suction passage and operated mechanically or electrically according to an operation by the vehicle operator to accelerate the vehicle, and a secondary throttle valve which is electrically operated by said throttle actuator and which is disposed in series with said main throttle valve, said secondary throttle valve functioning as said throttle valve whose opening angle is reduced by said throttle actuator.

16. A vehicle attitude control system according to claim 15, wherein said deceleration control device decrements said angle of opening of said secondary throttle valve by a predetermined decrement amount, while a deceleration command generated from said controller is present.

17. A vehicle attitude control system according to claim 1, wherein said vehicle is a rear-drive 4-wheel vehicle having a front right and a front left wheel which are non-driving wheels, and a rear right and a rear left wheel which are driving wheels, and wherein said deceleration control device reduces an output torque of an engine of the vehicle to reduce rotating speeds of said rear right and left wheels for thereby decelerating the vehicle, said controller comprising first determining means fro determining, on the basis of the output of said vehicle condition sensor, whether the vehicle has a drift-out tendency or a spinning tendency, and second determining means for determining a deceleration time such that said deceleration time is longer when the vehicle has said drift-out tendency than when the vehicle has said spinning tendency, said vehicle continuously decelerated by said deceleration control device during said deceleration time.

18. A vehicle attitude control system according to claim 17, wherein said controller further comprises third determining means for determining whether said attitude control device is able to normally function to achieve said attitude control, and fourth determining means for determining said deceleration time such that said deceleration time is longer when said third determining means determines that said attitude control device is not able to normally function, than when said third determining means determines that said attitude control device is able to normally function.

19. A vehicle attitude control system according to claim 1, wherein said deceleration control device terminates said deceleration control when a predetermined condition of the vehicle for terminating said deceleration control is satisfied.

20. A vehicle attitude control system according to claim 19, wherein said predetermined condition of the vehicle for terminating said deceleration control is satisfied when said attitude control by said attitude control device is terminated.