Vehicle motion control device
First Claim
1. A vehicle motion control device applied to a vehicle provided with a brake conduit composed of a dual circuit comprising a circuit for supplying brake fluid pressure to each wheel cylinder of a front-right wheel and a rear-left wheel and a circuit for supplying brake fluid pressure to each wheel cylinder of a front-left wheel and a rear-right wheel, each of which is independent of each other, comprising:
- turning state obtaining means for obtaining a turning state of the vehicle; and
turning state control means for producing a predetermined yawing moment on the vehicle for bringing the turning state of the vehicle into a target state belonging to one of the dual circuit in a case where brake operation by a driver is not executed, wherein the turning state control means comprises;
basic control volume calculating means for calculating basic control volume for decelerating the vehicle based upon the running state of the vehicle; and
yaw control volume calculating means for calculating yaw control volume for producing the predetermined yawing moment on the vehicle based upon the turning state of the vehicle, whereinwhen the turning state of the vehicle is in the understeer state, the turning state control means is configured to exert the braking force according to the basic control volume on the front wheel at the outer side of the turning direction and exert the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the rear wheel at the inner side of the turning direction, andwhen the turning state of the vehicle is in the oversteer state, the turning state control means is configured to exert the braking force according to the basic control volume on the rear wheel at the inner side of the turning direction and exert the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the front wheel at the outer side of the turning direction.
1 Assignment
0 Petitions
Accused Products
Abstract
This device is applied to a vehicle having a dual circuit brake conduit (so-called X-conduit) comprising a circuit for a front-right wheel and a rear-left wheel and a circuit for a front-left wheel and a rear-right wheel. This device obtains basic control volume Gb based upon a vehicle body speed and a road friction coefficient during an understeer restraining control or oversteer restraining control, and obtains yaw control volume Gd based upon a deviation between a target yaw rate and actual yaw rate. Then, it exerts braking force according to the basic control volume Gb respectively on two wheels of one circuit to which front wheel at the outer side of the turning direction and the rear wheel at the inner side of the turning direction belong, to thereby decelerate the vehicle, and further exerts braking force according to the yaw control volume Gd on either one wheel of the same circuit, thereby producing a yawing moment for making the turning state close to the target state.
16 Citations
20 Claims
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1. A vehicle motion control device applied to a vehicle provided with a brake conduit composed of a dual circuit comprising a circuit for supplying brake fluid pressure to each wheel cylinder of a front-right wheel and a rear-left wheel and a circuit for supplying brake fluid pressure to each wheel cylinder of a front-left wheel and a rear-right wheel, each of which is independent of each other, comprising:
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turning state obtaining means for obtaining a turning state of the vehicle; and turning state control means for producing a predetermined yawing moment on the vehicle for bringing the turning state of the vehicle into a target state belonging to one of the dual circuit in a case where brake operation by a driver is not executed, wherein the turning state control means comprises; basic control volume calculating means for calculating basic control volume for decelerating the vehicle based upon the running state of the vehicle; and yaw control volume calculating means for calculating yaw control volume for producing the predetermined yawing moment on the vehicle based upon the turning state of the vehicle, wherein when the turning state of the vehicle is in the understeer state, the turning state control means is configured to exert the braking force according to the basic control volume on the front wheel at the outer side of the turning direction and exert the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the rear wheel at the inner side of the turning direction, and when the turning state of the vehicle is in the oversteer state, the turning state control means is configured to exert the braking force according to the basic control volume on the rear wheel at the inner side of the turning direction and exert the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the front wheel at the outer side of the turning direction. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle motion control device applied to a vehicle provided with a brake conduit composed of a dual circuit comprising a circuit for supplying brake fluid pressure to each wheel cylinder of a front-right wheel and a rear-left wheel and a circuit for supplying brake fluid pressure to each wheel cylinder of a front-left wheel and a rear-right wheel, each of which is independent of each other, comprising:
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turning state obtaining means for obtaining a turning state of the vehicle; and turning state control means for producing a predetermined yawing moment on the vehicle for bringing the turning state of the vehicle into a target state by respectively exerting braking force by brake fluid pressure on two wheels belonging to one of the dual circuit in a case where brake operation by a driver is not executed, wherein the turning state control means comprises; basic control volume calculating means for calculating basic control volume for decelerating the vehicle based upon the running state of the vehicle; and yaw control volume calculating means for calculating yaw control volume for producing the predetermined yawing moment on the vehicle based upon the turning state of the vehicle, wherein when the turning state of the vehicle is in the understeer state, the turning state control means is configured to exert the braking force according to the basic control volume on the front wheel at the outer side of the turning direction and simultaneously exert the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the rear wheel at the inner side of the turning direction, and when the turning state of the vehicle is in the oversteer state, the turning state control means is configured to exert the braking force according to the basic control volume on the rear wheel at the inner side of the turning direction and simultaneously exert the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the front of wheel at the outer side of the turning direction. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A vehicle motion control device applied to a vehicle provided with a brake conduit composed of a dual circuit comprising a circuit for supplying brake fluid pressure to each wheel cylinder of a front-right wheel and a rear-left wheel and a circuit for supplying brake fluid pressure to each wheel cylinder of a front-left wheel and a rear-right wheel, each of which is independent of each other, comprising:
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turning state obtaining means for obtaining a turning state of the vehicle; and turning state control means for producing a predetermined yawing moment on the vehicle for bringing for turning state of the vehicle into a target state by respectively exerting braking force by brake fluid pressure on two wheels belonging to one of the dual circuit in a case where brake operation by a driver is not executed, wherein the turning state control means comprises; basic control volume calculating means for calculating basic control volume for decelerating the vehicle based upon the running state of the vehicle; and yaw control volume calculating means for calculating yaw control volume for producing the predetermined yawing moment on the vehicle based upon the turning state of the vehicle, wherein when the turning state of the vehicle is in the understeer state, the turning state control means is configured to increase the braking force according to the basic control volume on the front wheel at the outer side of the turning direction and increase the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the rear wheel at the inner side of the turning direction, and when the turning state of the vehicle is in the oversteer state, the turning state control means is configured to increase the braking force according to the basic control volume on the rear wheel at the inner side of the turning direction and increase the braking force, that is obtained by adding the braking force according to the yaw control volume to the braking force according to the basic control volume, on the front wheel at the outer side of the turning direction. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification