Roll control device of vehicles with tracing of turning course

• US 6,178,368 B1
• Filed: 06/24/1999
• Issued: 01/23/2001
• Est. Priority Date: 08/03/1998
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Otake, Hirotada
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/344,128
• Time in Patent Office: 579 Days
• Field of Search: 701/70, 701/72, 701/78, 701/37, 701/38, 701/73, 701/82, 701/83, 701/84, 701/90, 701/91, 180/197
• US Class Current: 701/70
• CPC Class Codes: B60T 2210/24 Curve radius
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2270/313 with less than three sensors (yaw rate, steering angle, lateral acceleration)
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration

Abstract

A device for controlling a rolling of a four-wheeled vehicle during a turning, wherein a target deceleration Gxt and a target yaw torque Twt of the vehicle are calculated such as

Gxt=(R/2Vx) Qrs

Twt=(I/2Vx) Qrs

wherein R is a radius of curvature of a turning course, Vx is a vehicle speed, I is an inertial yaw moment of the vehicle, Qrs is a target roll suppress quantity indicative of the degree of need of a roll suppress control, and one or both of at least a front pair or a rear pair of wheels are applied with a separately controlled braking so as to generate the target deceleration and the target yaw torque, so as thereby to suppress the rolling of the vehicle body while keeping the course of the turning radius R.

Claims

1. A device for controlling a rolling of a vehicle during a turning, the vehicle having a vehicle body, a pair of front wheels and a pair of rear wheels, a steering system, and a brake system for applying a braking to each wheel of at least one of the front pair and the rear pair of wheels independently of the other of the pair, the device comprising:

means for detecting a speed Vx of the vehicle;

means for detecting a steeling angle θ

of the steeling system;

means for calculating a turning radius R of the turning based upon at least the steering angle θ

detected by the steering angle detection means and the vehicle speed Vx detected by the vehicle speed detection means;

means for calculating a target roll suppress quantity Qrs so as to be indicative of the degree of need of a roll suppress control;

means for calculating a target deceleration Gxt of the vehicle and a target yaw torque Twt of the vehicle as follows

2. A device according to claim 1, wherein the device further comprises means for detecting a lateral acceleration of the vehicle body, and the target roll suppress quantity calculation means calculate the target roll suppress quantity so as to increase at least according to an increase of the magnitude of the lateral acceleration detected by the lateral acceleration detection means.

3. A device according to claim 1, wherein the device further comprises means for detecting a lateral acceleration of the vehicle body, and means for detecting a roll rate of the vehicle body, and the target roll suppress quantity calculation means calculate the target roll suppress quantity to be proportional to a sum of a difference between the magnitude of the lateral acceleration detected by the lateral acceleration detection means and a limit value predetermined therefor and an amount which increases in proportion to the roll rate detected by the roll rate detection means.