Vehicle motion control device

• US 7,657,357 B2
• Filed: 09/30/2004
• Issued: 02/02/2010
• Est. Priority Date: 10/07/2003
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Matsuno, Koji
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US10/953,350
• Publication Number:
  US 20050075771A1
• Time in Patent Office: 1,951 Days
• Field of Search: None
• US Class Current: 701/70
• CPC Class Codes: B60T 2270/303 Stability control with active acceleration
• 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 8/1769 specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
• CPC Class Codes: B60W 2510/0275 Clutch torque
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2710/02 Clutches
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 40/068 Road friction coefficient

Abstract

A transfer clutch control units operates a second transfer clutch torque corresponding to a yaw moment out of the transfer clutch torque to be output to a transfer clutch drive unit by a second transfer clutch torque operational unit. The second transfer clutch torque operational unit operates a reference lateral acceleration from a lateral acceleration to be operated based on a linear vehicle motion model from a vehicle driving state and a preset coefficient according to the vehicle driving state, in addition to the yaw moment sensing the yaw rate and the yaw moment sensing the steering wheel angle, and operate the yaw moment corresponding to the deviation between the reference lateral acceleration and the actual lateral acceleration as a corrected value of the yaw moment. Not only a high μ road but also a low μ road, even abrupt change of road surfaces or the like can be consistently and optimally coped with in excellent response.

Claims

1. A vehicle motion control device comprising:

a lateral acceleration sensor that detects an actual lateral acceleration;

a controllable variable operational unit to calculate a value of a yaw moment required for controlling, and to calculate controllable variables including at least the yaw moment; and

a vehicle behavior control unit to control vehicle behaviors based on the controllable variables,

wherein the controllable variable operational unit calculates a reference lateral acceleration from at least a lateral acceleration to be operated, based on a linear vehicle motion model from a driving state of the vehicle and a preset coefficient according to the driving state of the vehicle, and uses a difference between the reference lateral acceleration and a detected actual lateral acceleration for a correction value of the value of the yaw moment.

2. The vehicle motion control device according to claim 1, wherein the value of the yaw moment comprises the value of the yaw moment according to at least a steering wheel angle.

3. The vehicle motion control device according to claim 1, wherein the value of the yaw moment comprises the value of the yaw moment according to at least a steering wheel angle and a value according to a yaw rate.

4. The vehicle motion control device according to claim 1, wherein the value of the yaw moment is limited according to a vehicle speed.

5. The vehicle motion control device according to claim 2, wherein the value of the yaw moment is limited according to a vehicle speed.

6. The vehicle motion control device according to claim 3, wherein the value of the yaw moment is limited according to a vehicle speed.

7. The vehicle motion control device according to claim 1, wherein the preset coefficient is set according to at least a steering wheel angle and the actual lateral acceleration.

8. The vehicle motion control device according to claim 2, wherein the preset coefficient is set according to at least the steering wheel angle and the actual lateral acceleration.

9. The vehicle motion control device according to claim 3, wherein the preset coefficient is set according to at least the steering wheel angle and the actual lateral acceleration.

10. The vehicle motion control device according to claim 4, wherein the preset coefficient is set according to at least a steering wheel angle and the actual lateral acceleration.

11. The vehicle motion control device according to claim 5, wherein the preset coefficient is set according to at least the steering wheel angle and the actual lateral acceleration.

12. The vehicle motion control device according to claim 6, wherein the preset coefficient is set according to at least the steering wheel angle and the actual lateral acceleration.

13. The vehicle motion control device according to claim 1, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

14. The vehicle motion control device according to claim 2, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

15. The vehicle motion control device according to claim 3, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

16. The vehicle motion control device according to claim 4, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

17. The vehicle motion control device according to claim 5, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

18. The vehicle motion control device according to claim 6, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

19. The vehicle motion control device according to claim 11, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.

20. The vehicle motion control device according to claim 12, wherein the vehicle behavior control unit comprises at least one of a braking force control unit to control the braking force by applying the braking force to selected wheels, a front and rear driving force distribution control unit to variably control the driving force distribution between front and rear wheels, and a right and left driving force distribution control unit to variably control the driving force distribution between right and left wheels.