Rolling control apparatus and method of vehicle

• US 6,697,726 B2
• Filed: 09/21/2001
• Issued: 02/24/2004
• Est. Priority Date: 10/05/2000
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Takagi, Masashi, Yokoyama, Tatsuaki, Aga, Masami
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Broadhead, Brian J
• Application Number:
  US09/956,988
• Publication Number:
  US 20020059023A1
• Time in Patent Office: 886 Days
• Field of Search: 701/70, 701/37, 701/38, 701/39, 701/48, 701/91, 701/72, 701/76, 280/5.501, 280/5.502, 280/5.506, 280/5.51
• US Class Current: 701/70
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/47 Rear wheel steering
• CPC Class Codes: B60G 2400/50 Pressure
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/22 Braking, stopping
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60G 2800/962 Four-wheel steering
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2260/022 Rear-wheel steering; Four-wheel steering
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04

Abstract

A rolling control apparatus and method for controlling rolling of a vehicle controls braking force applied to at least one wheel of the vehicle. The apparatus and method set a target roll angle of the vehicle based on a rolling state of the vehicle, calculate a total control quantity for achieving the target roll angle, based on a running condition of the vehicle, and control the braking force applied to each wheel of the vehicle, based on the total control quantity.

Claims

1. A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

sets a target roll angle of the vehicle based on a rolling state of the vehicle;

calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates a first target yaw moment for achieving the target roll angle by feed-forward control, based on the running condition of the vehicle, and calculates the total control quantity based on at least the first target yaw moment.

2. The rolling control apparatus according to claim 1, wherein the controller calculates the first target yaw moment based on at least one of a steering angle of front wheels, a steering angle of rear wheels, a vehicle speed and the target roll angle.

3. A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

sets a target roll angle of the vehicle based on a rolling state of the vehicle;

calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates the total control quantity, based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the controller calculates the first control quantity, based on a target roll angle and at least one of a steering angle of front wheels, a steering angle of rear wheels, and a vehicle speed.

4. A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

sets a target roll angle of the vehicle based on a rolling state of the vehicle;

calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates the total control quantity, based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the controller calculates the second control quantity, based on a first control-quantity component based on a deviation of an actual roll angle of the vehicle from the target roll angle, and a second control-quantity component based on an actual roll velocity of the vehicle.

5. The rolling control apparatus according to claim 4, wherein the second control quantity is calculated as a linear sum of the first control-quantity component and the second control-quantity component.

6. A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

sets a target roll angle of the vehicle based on a rolling state of the vehicle;

calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates the total control quantity, based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, wherein the first control quantity comprises a first target yaw moment, and the second control quantity comprises a second target yaw moment, and wherein the controller calculates a final target yaw moment as the total control quantity, based on at least the first target yaw moment and the second target yaw moment.

7. The rolling control apparatus according to claim 6, wherein the controller calculates the final target yaw moment as a sum of the first target yaw moment and the second target yaw moment.

8. The rolling control apparatus according to claim 6, wherein the controller calculates the second target yaw moment, based on a first yaw-moment component based on a deviation of an actual roll angle of the vehicle from the target roll angle, and a second yaw-moment component based on an actual roll velocity of the vehicle.

9. The rolling control apparatus according to claim 8, wherein the second yaw moment is calculated as a linear sum of the first yaw-moment component and the second yaw-moment component.

10. The rolling control apparatus according to claim 6, wherein the controller calculates a target braking amount of each of the at least one wheel for applying a yaw moment corresponding to the final target yaw moment to the vehicle, and controls a braking force applied to said each of the at least one wheel, based on the target braking amount.

11. The rolling control apparatus according to claim 6, wherein the controller calculates a target deceleration of the vehicle that corresponds to the final target yaw moment, calculates a target braking amount of each of the at least one wheel for achieving the target deceleration, and controls a braking force applied to said each of the at least one wheel, based on the target braking amount.

12. The rolling control apparatus according to claim 6, wherein the controller calculates a target deceleration of the vehicle that corresponds to the final target yaw moment, calculates a target braking amount of each of the at least one wheel based on the final target yaw moment and the target deceleration, and controls a braking force applied to said each of the at least one wheel, based on the target braking amount.

13. A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

setting a target roll angle of the vehicle based on a rolling state of the vehicle;

calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein a first target yaw moment for achieving the target roll angle by feed-forward control is calculated based on the running condition of the vehicle, and the total control quantity is calculated based on at least the first target yaw moment.

14. The method according to claim 13, wherein the first target yaw moment is calculated based on at least one of a steering angle of front wheels, a steering angle of rear wheels, a vehicle speed and the target roll angle.

15. A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

setting a target roll angle of the vehicle based on a rolling state of the vehicle;

calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the total control quantity is calculated based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the first control quantity is calculated based on a target roll angle and at least one of a steering angle of front wheels, a steering angle of rear wheels, and a vehicle speed.

16. A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

setting a target roll angle of the vehicle based on a rolling state of the vehicle;

calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the total control quantity is calculated based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the second control quantity is calculated based on a first control-quantity component based on a deviation of an actual roll angle of the vehicle from the target roll angle, and a second control-quantity component based on an actual roll velocity of the vehicle.

17. The method according to claim 16, wherein the second control quantity is calculated as a linear sum of the first control-quantity component and the second control-quantity component.

18. A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

setting a target roll angle of the vehicle based on a rolling state of the vehicle;

calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle; and

controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the total control quantity is calculated based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, wherein the first control quantity comprises a first target yaw moment, and the second control quantity comprises a second target yaw moment, and wherein the controller calculates a final target yaw moment as the total control quantity, based on at least the first target yaw moment and the second target yaw moment.

19. The method according to claim 18, wherein the final target yaw moment is calculated as a sum of the first target yaw moment and the second target yaw moment.

20. The method according to claim 18, wherein the second target yaw moment is calculated based on a first yaw-moment component based on a deviation of an actual roll angle of the vehicle from the target roll angle, and a second yaw-moment component based on an actual roll velocity of the vehicle.

21. The method according to claim 20, wherein the second yaw moment is calculated as a linear sum of the first yaw-moment component and the second yaw-moment component.

22. The method according to claim 18, wherein a target braking amount of each of the at least one wheel for applying a yaw moment corresponding to the final target yaw moment to the vehicle is calculated, and a braking force applied to said each wheel is controlled based on the target braking amount.

23. The method according to claim 18, wherein a target deceleration of the vehicle that corresponds to the final target yaw moment is calculated, and a target braking amount of each of the at least one wheel for achieving the target deceleration is calculated, and wherein a braking force applied to said each wheel is controlled based on the target braking amount.

24. The method according to claim 18, wherein a target deceleration of the vehicle that corresponds to the final target yaw moment is calculated, and a target braking amount of each of the at least one wheel is calculated based on the final target yaw moment and the target deceleration, and wherein a braking force applied to said each wheel is controlled based on the target braking amount.