Vehicle attitude control apparatus

• US 6,415,215 B1
• Filed: 02/06/2001
• Issued: 07/02/2002
• Est. Priority Date: 02/23/2000
• Status: Active Grant

• Current Assignee: Koyo Seiko Co., Ltd. (Toyota Motor Corporation)
• Original Assignee: Koyo Seiko Co., Ltd. (Toyota Motor Corporation)
• Inventors: Hayama, Ryouhei, Nakano, Shiro, Segawa, Masaya, Nishizaki, Katsutoshi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/777,793
• Time in Patent Office: 511 Days
• Field of Search: 701/36, 701/70, 701/1, 701/72, 701/42, 701/80, 701/220, 701/207, 701/41, 701/96, 701/84, 701/74, 303/140, 303/146, 303/147, 303/148, 180/197, 180/445, 180/167, 180/168, 180/443, 180/400, 180/411, 180/412, 180/446, 180/415, 180/422, 340/436, 340/435, 340/465
• US Class Current: 701/70
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• 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: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Abstract

In a vehicle attitude control apparatus, a steering actuator is controlled so that a steering angle matches a target steering angle. In an understeer condition; the braking force on the inside wheels is increased and drive power applied to the outside wheels is larger than applied to inside wheels. In an oversteer condition, the braking force on the outside wheels is increased and drive power applied to the inside wheels is larger than applied to outside wheels. The steering actuator is controlled so that a behavior index value corresponding to the change in the vehicle'"'"'behavior, that occurs based on the change in the steering angle, matches a target behavior index value that reflects the amount of operation of an operation member. A vehicle yaw moment and an amount of control of the steering actuator vary due to steer conditions, wheel lateral slip angle and brake force control.

Claims

1. A vehicle attitude control apparatus that can individually control a braking force applied to right and left wheels including inside wheels and outside wheels such that when the vehicle is in an understeer condition, the braking force applied to the inside wheels is larger than the braking force applied to the outside wheels, and when the vehicle is in an oversteer condition, the braking force applied to the outside wheels is larger than the braking force applied to the inside wheels, said vehicle attitude control apparatus comprising:

an operation member;

a steering actuator that is driven in accordance with the operation of said operation member;

means for transmitting the movement of said steering actuator to the wheels so that a steering angle changes in response to the movement of said steering actuator;

a sensor to seek a behavior index value corresponding to a change in the behavior of the vehicle that occurs based on the change in the steering angle;

a sensor to seek an amount of operation of said operation member;

means for seeking a target behavior index value corresponding to the sought amount of operation based on a stored relationship between said amount of operation and the target behavior index value;

sensors to seek the braking force applied to each wheel;

means for seeking a braking force difference between the braking force applied to the inside wheels and the braking force applied to the outside wheels;

means for calculating a steering angle set value corresponding to the sought target behavior index value and braking force difference based on a stored relationship between the target behavior index value, the braking force difference and the steering angle set value;

means for calculating a steering angle correction value corresponding to a difference between the target behavior index value and the sought behavior index value based on a stored relationship between said difference and the steering angle correction value; and

means for controlling said steering actuator so that the steering angle matches a target steering angle which is a sum of the steering angle set value and the steering angle correction value.

16. The vehicle attitude control apparatus according to claim 1, wherein a steering gear is used as a means for transmitting the movement of the steering actuator to the wheels so that the steering angle changes in response to the movement of said steering actuator.

2. A vehicle attitude control apparatus that can individually control a drive power applied to right and left wheels including inside wheels and outside wheels so that when the vehicle is in an understeer condition, the drive power applied to the outside wheels is larger than the drive power applied to the inside wheels, and when the vehicle is in an oversteer condition, the drive power applied to the inside wheels is larger than the drive power applied to the outside wheels, said vehicle attitude control apparatus comprising:

an operation member;

a steering actuator that is driven in accordance with the operation of said operation member;

means for transmitting the movement of said steering actuator to the wheels so that a steering angle changes in response to the movement of said steering actuator;

a sensor to seek a behavior index value corresponding to a change in the movement of the vehicle that occurs based on the change in the steering angle;

a sensor to seek an amount of operation of said operation member;

means for seeking a target behavior index value corresponding to the sought amount of operation based on a stored relationship between said amount of operation and the target behavior index value;

means for seeking the drive power applied to each wheel;

means for seeking a drive power difference between the drive power applied to the inside wheels and the drive power applied to the outside wheels;

means for calculating a steering angle set value corresponding to the sought target behavior index value and drive power difference based on a stored relationship between the target behavior index value, the drive power difference and the steering angle set value;

means for calculating a steering angle correction value corresponding to a difference between the target behavior index value and the sought behavior index value based on a stored relationship between said difference and the steering angle correction value; and

means for controlling said steering actuator so that the steering angle matches a target steering angle which is the sum of the steering angle set value and the steering angle correction value.

17. The vehicle attitude control apparatus according to claim 2, wherein a steering gear is used as a means for transmitting the movement of the steering actuator to the wheels so that the steering angle changes in response to the movement of said steering actuator.

3. A vehicle attitude control apparatus that can individually control a braking force applied to right and left wheels including inside wheels and outside wheels such that when the vehicle is in an understeer condition, the braking force applied to the inside wheels is larger than the braking force applied to the outside wheels, and when the vehicle is in an oversteer condition, the braking force applied to the outside wheels is larger than the braking force applied to the inside wheels, said vehicle attitude control apparatus comprising:

an operation member;

a steering actuator that is driven in accordance with the operation of said operation member;

means for transmitting the movement of said steering actuator to the wheels so that a steering angle changes in response to the movement of said steering actuator;

a sensor to seek a behavior index value corresponding to a change in the movement of the vehicle that occurs based on the change in the steering angle;

a sensor to seek an amount of operation of said operation member;

means for seeking a target behavior index value corresponding to a sought amount of operation based on a stored relationship between said amount of operation and the target behavior index value;

means for controlling said steering actuator so that the behavior index value matches the sought target behavior index value;

means for seeking a wheel lateral slip angle;

means for seeking, based on a stored equation, the braking force applied to the inside wheel that maximizes a vehicle yaw moment acting toward the inside of the turn, when the vehicle is determined to be in the understeer condition; and

means for determining whether or not the size of a sought wheel lateral slip angle equals or exceeds a predetermined maximum value when it is determined that the vehicle is in the understeer condition, wherein;

when the sought wheel lateral slip angle equals or exceeds said predetermined maximum value, braking force control is performed so that a sought braking force is applied, and the amount of control of the steering actuator to ensure that the behavior index value matches the target behavior index value is minimized, and

when the sought wheel lateral slip angle is less than said predetermined maximum value, as the sought wheel lateral slip angle decreases, the amount of braking force control is reduced and the amount of control of the steering actuator to ensure that the behavior index value matches the target behavior index value is increased.

4. The vehicle attitude control apparatus according to claim 3, further comprising means for determining whether or not at least one of a value corresponding to a size of a vehicle body lateral slip angle, and a value corresponding to a size of the rate of change of the vehicle body lateral slip angle, exceeds a predetermined positive number value, wherein when neither the value corresponding to the size of the vehicle body lateral slip angle nor the value corresponding to the size of the rate of change of the vehicle body lateral slip angle exceeds the predetermined positive number value, the amount of control of the braking force and the amount of control of the steering actuator in connection with the wheel lateral slip angle are set at a fixed level regardless of the size of the sought wheel lateral slip angle.

5. The vehicle attitude control apparatus according to claim 3, wherein said predetermined maximum value for the wheel lateral slip angle does not exceed the maximum value at which a linear region, in which a cornering force is proportional to the wheel lateral slip angle, is maintained.

6. The vehicle attitude control apparatus according to claim 4, wherein said stored equation is expressed as

7. The vehicle attitude control apparatus according to claim 3, said apparatus further comprising:

sensors to seek the braking force applied to each wheel;

means for seeking a braking force difference between the braking force applied to the inside wheel and the braking force applied to the outside wheel;

means for calculating a steering angle set value corresponding to the sought target behavior index value and braking force difference based on a stored relationship between the target behavior index value, the braking force difference and the steering angle set value; and

means for calculating a steering angle correction value corresponding to a difference between the target behavior index value and the sought behavior index value based on a stored relationship between said difference and the steering angle correction value,

wherein the behavior index value is matched to the target behavior index value, by controlling said steering actuator such that the steering angle matches a target steering angle which is a sum of the steering angle set value and the steering angle correction value.

18. The vehicle attitude control apparatus according to claim 3, wherein a steering gear is used as a means for transmitting the movement of the steering actuator to the wheels so that the steering angle changes in response to the movement of said steering actuator.

8. A vehicle attitude control apparatus that can individually control a braking force applied to right and left wheels including inside wheels and outside wheels such that the braking force applied to the inside wheels is larger than the braking force applied to the outside wheels when the vehicle is in an understeer condition, and the braking force applied to the outside wheels is larger than the braking force applied to the inside wheels when the vehicle is in an oversteer condition, wherein the control is performed such that the braking force applied to both front and rear inside wheels of said right and left wheels is increased when the vehicle is in the understeer condition, and the braking force applied to both front and rear outside wheels of said right and left wheels is increased when the vehicle is in the oversteer condition.

9. The vehicle attitude control apparatus according to claim 8, further comprising:

an operation member;

a steering actuator that is driven in accordance with the operation of said operation member;

means for transmitting a movement of said steering actuator to the wheels so that the steering angle changes in response to the movement of said actuator;

a sensor to seek a behavior index value corresponding to a change in the movement of the vehicle that occurs based on the change in the steering angle;

a sensor to seek an amount of operation of said operation member;

means for seeking a target behavior index value corresponding to the sought amount of operation based on a stored relationship between said amount of operation and the target behavior index value;

means for controlling said steering actuator so that the behavior index value matches the sought target behavior index value;

means for determining whether the vehicle is in the understeer condition or the oversteer condition, based on at least the sought behavior index value and the target behavior index value;

means for seeking the braking force applied to the front and rear inside wheels that maximizes a vehicle yaw moment acting toward an inside of a turn, when the vehicle is determined to be in the understeer condition, based on a stored equation; and

means for seeking the braking force applied to the front and rear outside wheels that maximizes the vehicle yaw moment acting toward the outside of the turn, when the vehicle is determined to be in the oversteer condition, based on a stored equation.

10. The vehicle attitude control apparatus according to claim 9, further comprising means for seeking a vehicle body lateral slip angle in time series, wherein:

when the sought behavior index value is less than the target behavior index value and the sought vehicle body lateral slip angle is changing so as to bring the behavior index value closer to the target behavior index value, it is determined that the vehicle is in the understeer condition;

when the sought behavior index value is less than the target behavior index value and the sought vehicle body lateral slip angle is changing so as to move the behavior index value away from the target behavior index value, it is determined that the vehicle is in the oversteer condition; and

when the sought behavior index value exceeds the target behavior index value, it is determined that the vehicle is in the oversteer condition.

11. The vehicle attitude control apparatus according to claim 9, further comprising means for seeking a wheel lateral slip angle, and means for determining whether or not the size of the sought wheel lateral slip angle equals or exceeds a predetermined maximum value when the vehicle is determined to be in the understeer condition, wherein:

when the sought wheel lateral slip angle equals or exceeds the predetermined maximum value, the braking force control is performed so that the sought braking force is applied, and the amount of control of the steering actuator to ensure that the behavior index value matches the target behavior index value is minimized; and

when the sought wheel lateral slip angle is less than the predetermined maximum value, as the sought wheel lateral slip angle decreases, the amount of braking force control is reduced and the amount of control of the steering actuator to ensure that the behavior index value matches the target behavior index value is increased.

12. The vehicle attitude control apparatus according to claim 9, wherein said stored equation is expressed a

13. The vehicle attitude control apparatus according to claim 9, said apparatus further comprising:

sensors to seek the braking force applied to each wheel;

means for seeking a braking force difference between the braking force applied to the inside wheel and the braking force applied to the outside wheel;

means for calculating a steering angle set value corresponding to the sought target behavior index value and braking force difference based on a stored relationship between the target behavior index value, the braking force difference and the steering angle set value; and

means for calculating a steering angle correction value corresponding to a difference between the target behavior index value and the sought behavior index value based on a stored relationship between said difference and the steering angle correction value,

wherein the behavior index value is matched to the target behavior index value, by controlling said steering actuator such that the steering angle matches a target steering angle which is a sum of the steering angle set value and the steering angle correction value.

14. The vehicle attitude control apparatus according to claim 11, further comprising means for determining whether or not at least one of a value corresponding to a size of a vehicle body lateral slip angle, and a value corresponding to a size of the rate of change of the vehicle body lateral slip angle, exceeds a predetermined positive number value, wherein when neither the value corresponding to the size of the vehicle body lateral slip angle nor the value corresponding to the size of the rate of change of the vehicle body lateral slip angle exceeds the predetermined positive number value, the amount of control of the braking force and the amount of control of the steering actuator in connection with the wheel lateral slip angle are set at a fixed level regardless of the size of the sought wheel lateral slip angle.

15. The vehicle attitude control apparatus according to claim 11, wherein said predetermined maximum value for the wheel lateral slip angle does not exceed the maximum value at which a linear region, in which a cornering force is proportional to the wheel lateral slip angle, is maintained.

19. The vehicle attitude control apparatus according to claim 9, wherein a steering gear is used as a means for transmitting the movement of the steering actuator to the wheels so that the steering angle changes in response to the movement of said steering actuator.